Modeling Concurrency and Reconfiguration in Vehicular Systems: A $\pi$-calculus Approach

TL;DR

This paper introduces a formal modeling framework combining $ ext{-calculus}$ and hybrid automata to analyze communication and reconfiguration in heterogeneous vehicular systems, enhancing safety and efficiency in autonomous vehicle platooning.

Contribution

It presents a novel integrated modeling approach for communication and reconfiguration in vehicular systems using $ ext{-calculus}$ and hybrid automata, addressing heterogeneity and safety.

Findings

Framework effectively models vehicle communication and reconfiguration.

Simulation demonstrates platooning behavior in heterogeneous vehicles.

Supports analysis for safe and efficient autonomous vehicle operation.

Abstract

As autonomous or semi-autonomous vehicles are deployed on the roads, they will have to eventually start communicating with each other in order to achieve increased efficiency and safety. Current approaches in the control of collaborative vehicles primarily consider homogeneous simplified vehicle dynamics and usually ignore any communication issues. This raises an important question of how systems without the aforementioned limiting assumptions can be modeled, analyzed and certified for safe operation by both industry and governmental agencies. In this work, we propose a modeling framework where communication and system reconfiguration is modeled through $\pi$-calculus expressions while the closed-loop control systems are modeled through hybrid automata. We demonstrate how the framework can be utilized for modeling and simulation of platooning behaviors of heterogeneous vehicles.