1,077 research outputs found
Nachweislich sichere Bewegungsplanung für autonome Fahrzeuge durch Echtzeitverifikation
This thesis introduces fail-safe motion planning as the first approach to guarantee legal safety of autonomous vehicles in arbitrary traffic situations. The proposed safety layer verifies whether intended trajectories comply with legal safety and provides fail-safe trajectories when intended trajectories result in safety-critical situations. The presented results indicate that the use of fail-safe motion planning can drastically reduce the number of traffic accidents.Die vorliegende Arbeit führt ein neuartiges Verifikationsverfahren ein, mit dessen Hilfe zum ersten Mal die verkehrsregelkonforme Sicherheit von autonomen Fahrzeugen gewährleistet werden kann. Das Verifikationsverfahren überprüft, ob geplante Trajektorien sicher sind und generiert Rückfalltrajektorien falls diese zu einer unsicheren Situation führen. Die Ergebnisse zeigen, dass die Verwendung des Verfahrens zu einer deutlichen Reduktion von Verkehrsunfällen führt
Computer-Aided Design for Safe Autonomous Vehicles
This paper details the design of an autonomous vehicle CAD toolchain, which captures formal descriptions of driving scenarios in order to develop a safety case for an autonomous vehicle (AV). Rather than focus on a particular component of the AV, like adaptive cruise control, the toolchain models the end-to-end dynamics of the AV in a formal way suitable for testing and verification. First, a domain-specific language capable of describing the scenarios that occur in the day-to-day operation of an AV is defined. The language allows the description and composition of traffic participants, and the specification of formal correctness requirements. A scenario described in this language is an executable that can be processed by a specification-guided automated test generator (bug hunting), and by an exhaustive reachability tool. The toolchain allows the user to exploit and integrate the strengths of both testing and reachability, in a way not possible when each is run alone. Finally, given a particular execution of the scenario that violates the requirements, a visualization tool can display this counter-example and generate labeled sensor data. The effectiveness of the approach is demonstrated on five autonomous driving scenarios drawn from a collection of 36 scenarios that account for over 95% of accidents nationwide. These case studies demonstrate robustness-guided verification heuristics to reduce analysis time, counterexample visualization for identifying controller bugs in both the discrete decision logic and low-level analog (continuous) dynamics, and identification of modeling errors that lead to unrealistic environment behavior
Reachability-Based Confidence-Aware Probabilistic Collision Detection in Highway Driving
Risk assessment is a crucial component of collision warning and avoidance
systems in intelligent vehicles. To accurately detect potential vehicle
collisions, reachability-based formal approaches have been developed to ensure
driving safety, but suffer from over-conservatism, potentially leading to
false-positive risk events in complicated real-world applications. In this
work, we combine two reachability analysis techniques, i.e., backward reachable
set (BRS) and stochastic forward reachable set (FRS), and propose an integrated
probabilistic collision detection framework in highway driving. Within the
framework, we can firstly use a BRS to formally check whether a two-vehicle
interaction is safe; otherwise, a prediction-based stochastic FRS is employed
to estimate a collision probability at each future time step. In doing so, the
framework can not only identify non-risky events with guaranteed safety, but
also provide accurate collision risk estimation in safety-critical events. To
construct the stochastic FRS, we develop a neural network-based acceleration
model for surrounding vehicles, and further incorporate confidence-aware
dynamic belief to improve the prediction accuracy. Extensive experiments are
conducted to validate the performance of the acceleration prediction model
based on naturalistic highway driving data, and the efficiency and
effectiveness of the framework with the infused confidence belief are tested
both in naturalistic and simulated highway scenarios. The proposed risk
assessment framework is promising in real-world applications.Comment: Under review at Engineering. arXiv admin note: text overlap with
arXiv:2205.0135
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