Architecting Systems-of-Systems in SosADL for Cooperative Driving Automation with C-V2X

A system-of-systems (SoS) is architecturally designed to exhibit emergent behavior from the interactions between independent constituent systems. With the upcoming generation of connected and automated vehicles equipped with CV2X technology, cooperative driving is becoming a major operational domain being supported by safety-critical SoSs. This paper investigates a novel approach based on opportunistic SoSs, where cooperative driving automation is designed to be the emergent behavior outcome of connected and automated vehicles, interacting through C-V2X, constituting together an SoS. In particular, this paper presents how collaborative SoSs, specified by SoS architectural models in terms of a domain-specific ADL, called SosADL for Cooperative Driving Automation (CDA), where these vehicular SoS are created, on the fly, by independent vehicles (equipped with onboard automated driving systems) sharing the same operational environment. The proposed approach for cooperative driving automation is demonstrated using a cooperative overtaking maneuver on a two-way country road.