We consider our work as a starting point, and many challenges remain. A main challenge is to be able to run longer tests for the AIM model in UPPAAL. Once we overcome this challenge it will open up the door for modeling and verifying(through SMC) other recent intersection management protocols like the AMP-IP and others in UPPAAL. Other challenges that lie ahead are those challenges facing formal ver- ification of complex systems. Overcoming those challenges would lead to formally proving or disproving safety properties in autonomous intersection management pro- tocols, increasing the chances of deploying reliable automated intersections on our roads in the near future.
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8
APPENDIX A
8.1
APPENDIX A.1 - AMP-IP Safety Message Fields
8.1.1 ENTER and CROSS messages -Vehicle ID: Vehicle unique Identifier.
-Current Road Segment: Departure road of the vehicle. -Current Lane: Departure lane of the vehicle.
-Next Road Segment: Arrival road of the vehicle. -Next Vertex: Arrival lane of the vehicle.
-Arrival-Time: Time at which the vehicle wants to arrive at the intersection. -Exit-Time: Time at which the vehicle plans to exit the intersection.
-Trajectory Cells List: Ordered list of cell numbers which the vehicle will occupy along its trajectory.
- Trajectory Cells Arrival Time List: Estimated arrival times in each cell found in the Trajectory cells list.
-Message Sequence Number: Sequence number of message type (ENTER or CROSS). -Message Type : Message Type (ENTER or CROSS).
8.1.2 EXIT message
-Vehicle ID: Vehicle unique Identifier.
-Message Sequence Number: Sequence number of EXIT messages. -Message Type: Type of message is EXIT.