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

Table 3

Semantic interpretation of relationship in autonomous software.

Relation	Semantics	Interpretation of relation semantics
Monitor		Represents the relation of monitor; will periodically monitor B’s operation status and data
Trigger		If the condition in block is satisfied, the operation in block will be executed
Precedence		After the operations in block are completed, operations in block will be executed successively
Stimulus		As for block and the relevant conditions and , if is satisfied, the operations in block will be executed
Response		Block will adjust the parameters, behaviors, and structures of block according to the corresponding policies
Invoke		Represents the relation of invoke; block stores the model and data needed for implementation of