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The heterogeneity of the state-of-the art embedded systems containing multicore platforms requires the application design flow to enable the creation of parallel applications using multiple Models of Computation. Components of such systems may interact in various ways, often using ad hoc methods. However, due to the poor reusability and analysability of ad hoc solutions, more structured approaches to heterogeneous modelling are needed. This paper takes advantage of the hierarchically heterogeneous modelling style of the Ptolemy II framework and presents a case study of building and simulating an autonomous vehicle application model using various Models of Computation.