Multiclock Constraint System Modelling and Verification for Ensuring Cooperative Autonomous Driving Safety

Figure 6

A possible schedule of base clock expressions: (a) , (b) , (c) , (d) , (e) , (f) ▶, (g) , (h) , (i) ↯, and (j) .

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)