Space-time Constraint Resources Modeling and Safety Verification Method for Automated Vehicles

Automated vehicle combines physics and computation on the basis of environment perception. It can realize intelligent interaction with the environment. Automated vehicle is a typical CPS. However, the continuous changes of driving physical space bring certain challenges to the safety of CPS resources. Therefore, how to solve this kind of CPS resource safety problems caused by space and time changes becomes the key. We propose a space-time constraint resource modeling and safety verification method for automated vehicle to solve this problem. Firstly, the physical topology model is proposed to model the physical topology space of CPS, which is able to describe the topology space. Secondly, the Resource-Space Time Communicating Sequential Process (RS- TCSP) is proposed by extending the resource vector on the basis of Time Communicating Sequential Process(TCSP) to describe the resources in CPS topology. Thirdly, the physical topology model and RS- TCSP are mapped to bigraphs and bigraphs reactive system, respectively. The safety of CPS resources is verified by BigMC, the verification tool of bigraphs, and the counterexample path is modified. Finally, a driving scene is given to verify the effectiveness of the proposes method.