Formal Verification of an Autonomous Vehicle Control System by the Timed OTS/CafeOBJ Method

The Lim-Jeong-Park-Lee protocol (LJPL protocol) has been proposed as an efficient distributed mutual exclusion algorithm for intersection traffic control, which manages a queue of vehicles to enter the intersection. In our previous work, we have verified its safety property by using the timed OTS/CafeOBJ method in a macro level. In this study, we model an autonomous vehicle control system of the queue as a micro level of LJPL protocol, where a vehicle can enter the intersection even if the vehicle in front is still crossing it under some time constraints. We describe a formal specification of the model and verify its safety property by the timed OTS/CafeOBJ method.