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

Table 4

CCSL specification and expression in TimeSquare.

CCSL specification	Expression in TimeSquare
	Expression c30 = Intersection(Clock1->asd, Clock2->ebna) and Relation r1[Alternates](AlternatesLeftClock -> ets, AlternatesRightClock -> c30)
≼	Expression c3 = Sup(Clock1->asd, Clock2->ebna) and Relation r2[Causes](LeftClock->c3, RightClock->esl)
	Expression c4 = Union(Clock1->efa,Clock2->efd) and cupp = DelayFor(DelayForClockToDelay->esl, DelayForClockForCounting->c4, DelayForDelay->d2)
	Relation r4[Coincides](Clock1->efd, Clock2->eno)
	Expression csup = Sup(Clock1->efa, Clock2->asd) and Relation r5[Coincides](Clock1->csup, Clock2->efna)
	Expression cupp1=DelayFor (DelayForClockToDelay->efa, DelayForClockForCounting->eso, DelayForDelay->d3)