  This article describes the application of a credible autocoding framework for
control systems towards a nonlinear car controller example. The framework
generates code, along with guarantees of high level functional properties about
the code that can be independently verified. These high-level functional
properties not only serves as a certificate of good system behvaior but also
can be used to guarantee the absence of runtime errors. In one of our previous
works, we have constructed a prototype autocoder with proofs that demonstrates
this framework in a fully automatic fashion for linear and quasi-nonlinear
controllers. With the nonlinear car example, we propose to further extend the
prototype's dataflow annotation language environment with with several new
annotation symbols to enable the expression of general predicates and dynamical
systems. We demonstrate manually how the new extensions to the prototype
autocoder work on the car controller using the output language Matlab. Finally,
we discuss the requirements and scalability issues of the automatic analysis
and verification of the documented output code.
