Research Article
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 | ā | ā |
|
|