High level petri nets modeling of advanced vehicle control

In this document we propose improvements in terms of communication between parts of the existing cooperative conduct system. These modifications make the system expandable in number of vehicles. That is to say, along its route, this platoon will send a aleatory call to all connected drivers, to join it. Each vehicle wishing to be part of this platoon must send a configuration and registration message and must provide the necessary information to be part of the platoon. This new feature can reduce traffic congestion and save energy. This article, paves the way for the emergence of a new type of driving system that we will call "EX-platoon" extensible platoon abbreviation. Thus, through this document, we will develop a model based on a Petri network describing the flow of messages exchanged between the different parts of this system necessary to allow the cooperative driving system to be extensible. This article presents a high-level model based on the Petri network for internal and external communication flow in a scalable cooperative driving system.