Formal Verification on the Safety of Internet of Vehicles Based on TPN and Z

Table 3

The details of states and operations.

P0	The start of intelligent car	P14	Obstacles, traffic light, and so on
P1	Lidar 1	P15	Normal environment
P2	Lidar 2	P16	Keep running
P3	Lidar 3	t0	Start
P4	Radar 1	t1	Processed normal data by lidar system
P5	Radar 2	t2	Processed abnormal data by lidar system
P6	Detected obstacles ahead by radar	t3	Processed normal data by radar system
P7	Detected obstacles ahead by lidar	t4	Processed abnormal data by radar system
P8	Detected normal environment by radar	t5	Decelerating
P9	Brake	t6	Braking
P10	Deceleration	t7	Process by vision-front
P11	Detected normal environment by lidar	t8	Process by wide-angle
P12	Vision-front	t9	Check information
P13	Wide-angle