Formalising and Monitoring Traffic Rules for Autonomous Vehicles in Isabelle/HOL

Rizaldi, Albert; Keinholz, Jonas; Huber, Monika; Feldle, Jochen; Immler, Fabian; Althoff, Matthias; Hilgendorf, Eric; Nipkow, Tobias

doi:10.1007/978-3-319-66845-1_4

Cited by 71 publications

(83 citation statements)

References 15 publications

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“…Formal methods can provide suitable evidence for certification. For example, Isabelle/HOL and temporal logic have been used to formalise a subset of traffic rules for vehicle overtaking [29]. Furthermore, a model-checking approach has been used to capture the rules and expectations of pilots in order to to provide certification evidence for an autonomous pilotless aircraft [33].…”

Section: Trust and Certification Evidencementioning

confidence: 99%

Robotics and Integrated Formal Methods: Necessity Meets Opportunity

Farrell

Luckcuck

Fisher

2018

Lecture Notes in Computer Science

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Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical, real-time, hybrid, adaptive and even autonomous systems, with a typical robotic system being likely to contain all of these aspects. The techniques for developing and verifying each of these system varieties are often quite distinct. This, together with the sheer complexity of robotic systems, leads us to argue that diverse formal techniques must be integrated in order to develop, verify, and provide certification evidence for, robotic systems. Furthermore, we propose the fast evolving field of robotics as an ideal catalyst for the advancement of integrated formal methods research, helping to drive the field in new and exciting directions and shedding light on the development of large-scale, dynamic, complex systems.

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Section: Trust and Certification Evidencementioning

confidence: 99%

Robotics and Integrated Formal Methods: Necessity Meets Opportunity

Farrell

Luckcuck

Fisher

2018

Lecture Notes in Computer Science

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“…These formal proofs can be used to provide robust evidence for certification of autonomous robotic systems. A notable example here is the use of Isabelle/HOL and temporal logic to formalise a subset of traffic rules for vehicle overtaking in Germany [147]. More recently, the RoboChart notation and it's associated toolset also makes use of Isabelle/HOL to verify robotic systems [74].…”

Section: Theorem Provingmentioning

confidence: 99%

Formal Specification and Verification of Autonomous Robotic Systems

et al. 2019

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Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the correctness of, or provide sufficient evidence for the certification of, autonomous robotics. Formal methods for autonomous robotics has received some attention in the literature, but no resource provides a current overview. This paper systematically surveys the state-of-the-art in formal specification and verification for autonomous robotics. Specially, it identifies and categorises the challenges posed by, the formalisms aimed at, and the formal approaches for the specification and verification of autonomous robotics. Introduction, Methodology and Related WorkAn autonomous system is an artificially intelligent entity that makes decisions in response to input, independent of human interaction. Robotic systems are physical entities that interact with the physical world. Thus, we consider an autonomous robotic system as a machine that uses Artificial Intelligence (AI), has a physical presence in and interacts with the real world. They are complex, inherently hybrid, systems, combining both hardware and software; they often require close safety, legal, and ethical consideration. Autonomous robotics are increasingly being used in commonplace-scenarios, such as driverless cars [68], pilotless aircraft [176], and domestic assistants [174,60].While for many engineered systems, testing, either through real deployment or via simulation, is deemed sufficient; the unique challenges of autonomous robotics, their dependence on sophisticated software control and decision-making, and their increasing deployment in safety-critical scenarios, require a stronger form of verification. This leads us towards using formal methods, which are mathematically-based techniques for the specification and verification of software systems, to ensure the correctness of, and provide sufficient evidence for the certification of, robotic systems.We contribute an overview and analysis of the state-of-the-art in formal specification and verification of autonomous robotics. §1.1 outlines the scope, research questions and search criteria for our survey. §1.2 describes related work concerning formal methods for robotics and differentiates them from our work. We recognise the important role that middleware architectures and, non-and semi-formal techniques have in the development of reliable robotics and we briefly summarise some of these techniques in §2. The specification and verification challenges raised by autonomous robotic systems are discussed next: §3 describes the challenges of their context (the external challenges) and §4 describes the challenges of their organisation (the internal challenges). §5 discusses the formalisms used in the literature for specification and verification of autonomous robotics. §6 characterises the approaches to formal specification and verification of autonomous robotics found in the li...

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“…Proof: The safe distance for exact velocities, a single point in time, and constant velocity of the ego vehicle during T ego is provided in [96,Thm. 2.8].…”

Section: Abstraction Based On Safe Distance (M Safe )mentioning

confidence: 99%

Set-Based Prediction of Traffic Participants Considering Occlusions and Traffic Rules

Koschi

Althoff

2021

IEEE Trans. Intell. Veh.

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Provably safe motion planning for automated road vehicles must ensure that planned motions do not result in a collision with other traffic participants. This is a major challenge in autonomous driving, since the future behavior of other traffic participants is not known and since traffic participants are often hidden due to occlusions. In this work, we propose a formal setbased prediction that contains all acceptable future behaviors of both detected and potentially hidden traffic participants. Based on formalized traffic rules and nondeterministic motion models, we perform reachability analysis to predict the set of possible occupancies and velocities of vehicles, pedestrians, and cyclists. Real-world experiments with a test vehicle in various traffic situations demonstrate the applicability and real-time capability of our over-approximative prediction for both online verification and fail-safe trajectory planning. Even in congested, complex traffic scenarios, our forecasting approach enables self-driving vehicles to never cause accidents.

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Formalising and Monitoring Traffic Rules for Autonomous Vehicles in Isabelle/HOL

Cited by 71 publications

References 15 publications

Robotics and Integrated Formal Methods: Necessity Meets Opportunity

Robotics and Integrated Formal Methods: Necessity Meets Opportunity

Formal Specification and Verification of Autonomous Robotic Systems

Set-Based Prediction of Traffic Participants Considering Occlusions and Traffic Rules

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