Moral and formal model-based control strategy for autonomous vehicles at traffic-light-free intersections

Making an effective traffic strategy is a challenging problem that involves efficiency and safety, where traffic lights play an important role. Especially in cases without traffic lights, creating traffic strategies benefits significantly more complex and challenging. This complexity underscores the importance of research on autonomous vehicles, which has been trained widespread attention in recent years. In order to avoid these potential crises, the designed traffic strategy at traffic light-free intersections must be effective and reliable, ensuring the basic processes work properly. In this paper, we propose a novel method to formally model the traffic strategy for vehicles to make sure they safely and orderly pass through traffic light-free intersections. We use the state space analysis method to analyze the vehicle traffic model to ensure the decision made at each step is correct. By using Petri net, our proposed model achieves excellent analytical capabilities for asynchronous or highly concurrent systems than simpler Unified Modeling Language (UML) systems, as well as the ability to dynamically analyze system security and reliability.