Algebraic software analysis and embedded simulation of a driving robot

At TNO Automotive the Generic Driving Actuator (GDA) is developed. The GDA is a device capable of driving a vehicle fully automatically using the same interface as a human driver does. In this paper, the design of the GDA is discussed. The software and hardware of the GDA and its effect on vehicle behaviour are analyzed from a safety point of view. The hardware design of the GDA is adapted to achieve an acceptable level of fault tolerance. The software is designed and verified using formal methods and finally, a simulation model is built in Simulink to design a strategy to maintain safety during component failures and emergencies.