Formal  Model and Analysis for the Random Event in the Intelligent Car with Stochastic Petri Nets and Z

Table 3

Meaning of each place and transition.

Place	Meaning
	Initial state of the vehicle
	Acceleration controller
	Front sensor subsystem
	Rear sensor subsystem
	Random events
	Deceleration controller
	Automobile brake
	Front sensor subsystem is normal
	Rear sensor subsystem is normal
	Warning message
	Keep running
	Deceleration
	Brake
	Vehicle damage
Transition	Meaning
	Start
	Processing normal information for front sensor subsystem
	Processing normal information for rear sensor subsystem
	Handling exception information for front sensor subsystem
	Handling exception information for rear sensor subsystem
	Accelerating
	Slowdown caused by random events behind the vehicle
	Slowdown caused by random events in front of the vehicle
	Braking due to random events behind the vehicle
	Braking due to random events in front of the vehicle
	Continuous monitoring of vehicle status during normal driving
	Slow down and continuously monitor vehicle status
	Braking and continuous monitoring of vehicle status
	Vehicle collides while decelerating
	Vehicle collides while braking
	Sending the vehicle to a repair shop for repair