An Abstract Model for Proving Safety of Autonomous Urban Traffic

Hilscher, Martin; Schwammberger, Maike

doi:10.1007/978-3-319-46750-4_16

Cited by 21 publications

(32 citation statements)

References 16 publications

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“…Hence, pc(c, ego) allows us to identify potentially unsafe situations, and so take measures to mitigate this. To model the spatial behaviour of a vehicle joining or leaving the platoon, we will use a type-amended timed automata called automotive-controlling timed automata (ACTA) [16]. These augment timed automata with the possibility to use spatial formulas as guards and invariants, as well as to use the spatial actions described above at the transitions.…”

Section: Introducing Spacementioning

confidence: 99%

Modular Verification of Vehicle Platooning with Respect to Decisions, Space and Time

Kamali¹,

Linker

Fisher

2019

Communications in Computer and Information Science

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The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the complex nature of such systems, for example, the intricate combination of discrete and continuous aspects, ensures that whole system verification is often infeasible. This motivates the need for novel analysis approaches that modularise the problem, allowing us to restrict our analysis to one particular aspect of the system while abstracting away from others. For instance, while verifying the real-time properties of an autonomous system we might hide the details of the internal decision-making components. In this paper we describe verification of a range of properties across distinct dimesnions on a practical hybrid agent architecture. This allows us to verify the autonomous decision-making, real-time aspects, and spatial aspects of an autonomous vehicle platooning system. This modular approach also illustrates how both algorithmic and deductive verification techniques can be applied for the analysis of different system subcomponents.

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Section: Introducing Spacementioning

confidence: 99%

Modular Verification of Vehicle Platooning with Respect to Decisions, Space and Time

Kamali¹,

Linker

Fisher

2019

Communications in Computer and Information Science

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“…The logic MLSL and its dedicated abstract model was extended for country roads with oncoming traffic [12] and urban traffic scenarios with intersecting lanes [14,27]. The authors informally introduced respective controllers for safe lane change manoeuvres and safe turning manoeuvres at intersections.…”

Section: Introductionmentioning

confidence: 99%

“…The authors informally introduced respective controllers for safe lane change manoeuvres and safe turning manoeuvres at intersections. The respective safety of the controllers is proven with a semi-formal mathematical proof [13,12,14]. With automotive-controlling timed automata (ACTA), a formal semantics for the previously informal controllers was later introduced [14].…”

Section: Introductionmentioning

confidence: 99%

“…The respective safety of the controllers is proven with a semi-formal mathematical proof [13,12,14]. With automotive-controlling timed automata (ACTA), a formal semantics for the previously informal controllers was later introduced [14]. (Un-) decidability results for (parts of) the logic MLSL were provided [10,16,23].…”

Section: Introductionmentioning

confidence: 99%

“…While [17] presents a strong implementation result focused directly on the spatio-temporal logic HMLSL, we instead investigate safety and liveness of the protocol of the lane change controller for highway traffic [13]. The controller can be formalised as an automotive-controlling timed automaton (ACTA) [14] and uses formulas of MLSL to reason about traffic situations and to decide, whether a car can safely change lanes.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Introducing Liveness into Multi-lane Spatial Logic lane change controllers using UPPAAL

Schwammberger

2018

Electron. Proc. Theor. Comput. Sci.

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With Multi-lane Spatial Logic (MLSL) a powerful approach to formally reason about and prove safety of autonomous traffic manoeuvres was introduced. Extended timed automata controllers using MLSL were constructed to commit safe lane change manoeuvres on highways. However, the approach has only few implementation and verification results. We thus strenghen the MLSL approach by implementing their lane change controller in UPPAAL and confirming the safety of the lane change protocol. We also detect the unlive behaviour of the original controller and thus extend it to finally verify liveness of the new lane change controller.

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An accident prediction architecture based on spatio‐clock stochastic and hybrid model for autonomous driving safety

Wang

Huang

et al. 2021

Concurrency and Computation

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Summary Collaborative and autonomous driving vehicles combine hardware and software complex processes, also are heavily dependent on and influenced by the world of physical and cyber interactions. They have enabled many new features and advanced functionalities, such as stochastic and hybrid natures, mobile spatial topologies, and time‐critical dependability. However, the existing modeling and verification techniques have not established faith in proving correctness and safety. Spatial and time collision avoidance remains crucial obstacles on the path to becoming ubiquitous and dependable. In order to ensure safety, we first design an accident prediction architecture in system design‐time and run‐time stages. We apply it on collaborative and autonomous overtaking systems involving spatial‐ and time‐critical accident predictions. Then, we develop a novel and dedicated spatio‐clock stochastic specification language (SCSSL) to describe safety invariants and guards in domain‐specific autonomous driving systems. Next, we create the spatio‐clock stochastic and hybrid automata models based on SCSSL in order to model inherently stochastic and hybrid behaviors. To illustrate the effectiveness of spatio‐clock consistency stochastic specification and verification, we adopt statistical model checking natively to provide reliable predictions for the incoming collision instants and positions. Finally, we present an illustrative overtaking case study to verify spatio‐clock stochastic and hybrid related properties and ensure correct modeling, and demonstrate the significance of our proposed approach.

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An Abstract Model for Proving Safety of Autonomous Urban Traffic

Cited by 21 publications

References 16 publications

Modular Verification of Vehicle Platooning with Respect to Decisions, Space and Time

Modular Verification of Vehicle Platooning with Respect to Decisions, Space and Time

Introducing Liveness into Multi-lane Spatial Logic lane change controllers using UPPAAL

An accident prediction architecture based on spatio‐clock stochastic and hybrid model for autonomous driving safety

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