Modelling and Verification of Cooperative Vehicle Infrastructure System at Intersections Based on Timed Automata

Cooperative Vehicle Infrastructure System (CVIS) is one of the trending solutions that enhance traffic safety and efficiency of urban road intersections. The function safety of CVIS itself should be preserved to achieve this goal. In this paper, we propose a novel approach to model CVIS and verify its function safety. First, the Unified Modelling Language (UML) is adopted to describe the process of cooperation between vehicles and infrastructure at intersections, where mixed traffic situation is discussed in detail. Second, the timed automata network is created using UPPAAL tool, where CIVS control logic and message sequence are described by four models. Third, we apply model simulation in UPPAAL tool to check the cooperation process. Potential risks of traffic accidents in CVIS intersections are identified. And the control logic and message sequence of CVIS is verified using model checking. Results show that no deadlock occurs and the properties are satisfiable, which indicates the function safety of CVIS and provides a trustful framework to handle the safety issues at road intersections.