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

Table 4

Meaning of each place and transition.

Place	Meaning
	The vehicle is running normally
	Acceleration controller
	Front sensor subsystem
	Rear sensor subsystem
	Front sensor subsystem is normal
	Rear sensor subsystem is normal
Transition	Meaning
	Continuous monitoring of vehicle status during normal driving
	Processing normal information for front sensor subsystem
	Processing normal information for rear sensor subsystem
	Accelerating