Time plays a major role in the specification of Cyber-physical Systems (CPS) behavior with concurrency, timeliness, asynchrony, and resource limits as their main characteristics. In addition to timeliness, the specification of CPS needs to assess and unambiguously define its behavior with respect to the other Quality-of-Information (QoI) properties: (1) Correctness, (2) Completeness, (3) Consistency, and (4) Accuracy. Very often, CPS need to handle these QoI properties, and any combination thereof, multiple times when performing computation and communication processes. However, a model-driven and systematic approach to specify CPS behavior that jointly considers combined QoI aspects is possible but missing in existing methodologies.

As the first contribution of this work, we provide an extension to an established model of computation (MoC) based on “Functions driven by Finite State Machine” (FunState) to enable a model-driven composition mechanism to create CPS behavior specifications from reusable components.

Second, we present a novel set of design patterns to illustrate the modeling of QoI-aware CPS specifications that can be applied in several state-of-the-art Electronic System Level (ESL) methodologies. The time semantics of the MoC are formalized using the tagged-signal-model, and the presented model-driven approach enables the composition of multiple design patterns.

The main benefits of the presented model-driven approach and design patterns to create CPS specifications are as follows: (a) reduce modeling effort, errors, and time through the reuse of known recipes to re-incurring tasks and allow to automatically generate repetitive control flows based on extended Finite State Machines; (b) increase system robustness and facilitate the creation of holistic QoI management allowing to unambiguously define system behavior for scenarios with single/multiple QoI requirement violations in different models of computation; (c) dynamically validate timing behavior of system implementations to enable a multi-objective optimization of nonfunctional properties that influence CPS timing.

We demonstrate the aforementioned benefits through the modeling and evaluation of an infrastructure-assisted automated driving case study using Infrastructure-to-Vehicle (I2V) communications to distribute QoI critical road environment information.