A control system comprising: a controller configured to control communication between or among plural vehicle devices that control operation of at least one vehicle via a network that communicatively couples the vehicle devices , characterized in that : the controller is configured to control the communication using a data distribution service, DDS, and with the network operating as a time sensitive network, TSN, wherein the DDS comprises an object management middleware communication standard and the TSN communicates different types of information based on whether communication of the different types of information need or do not need to be completed within designated periods of time for safe operation of the at least one vehicle ; and the controller is further configured to determine whether to transmit one or more signals using time sensitive communications, best effort communications, or rate constrained communications based on a type of information to be communicated, wherein the controller is configured to, at least partially in response to determining that the one or more signals control movement of one or more of the at least one vehicle , direct a first vehicle device of the plural vehicle devices to communicate the one or more signals using the time sensitive communications, and the controller is configured to at least one of: direct a different, second vehicle device of the plural vehicle devices to communicate using best effort communications; or direct a different, third vehicle device of the plural vehicle devices to communicate using rate constrained communications. the controller is configured to control the communication using a data distribution service, DDS, and with the network operating as a time sensitive network, TSN, wherein the DDS comprises an object management middleware communication standard and the TSN communicates different types of information based on whether communication of the different types of information need or do not need to be completed within designated periods of time for safe operation of the at least one vehicle ; and the controller is further configured to determine whether to transmit one or more signals using time sensitive communications, best effort communications, or rate constrained communications based on a type of information to be communicated, wherein the controller is configured to, at least partially in response to determining that the one or more signals control movement of one or more of the at least one vehicle , direct a first vehicle device of the plural vehicle devices to communicate the one or more signals using the time sensitive communications, and the controller is configured to at least one of: direct a different, second vehicle device of the plural vehicle devices to communicate using best effort communications; or direct a different, third vehicle device of the plural vehicle devices to communicate using rate constrained communications. direct a different, second vehicle device of the plural vehicle devices to communicate using best effort communications; or direct a different, third vehicle device of the plural vehicle devices to communicate using rate constrained communications. <EOS>