A Petri Nets-Based Model of a Developed Cooperative Driving System

Our paper introduces an innovative cooperative driving system that can be scaled to include additional vehicles. Along its route, the system can invite nearby drivers to join. Any vehicle wishing to become part of the platoon must send configuration and registration messages and provide the necessary information to ensure safety. We present a new driving system named “EX-platoon” (short for Expandable Platoon), designed to alleviate traffic congestion and reduce energy consumption. To demonstrate the system's scalability, we use a model based on a Petri net to illustrate the flow of messages exchanged among the system's components. The internal and external communication flows within this scalable cooperative driving system are represented through a high-level Petri net-based model, as detailed in this paper.