Autonomous Vehicle Decision-Making and Monitoring based on Signal Temporal Logic and Mixed-Integer Programming

Sahin, Yunus Emre; Quirynen, Rien; Cairano, Stefano Di

doi:10.23919/acc45564.2020.9147917

Cited by 26 publications

(17 citation statements)

References 12 publications

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“…The study conducted by Mehr et al ( 21 ) used STL to define a predictive ramp metering system for a highway in a stochastic approach. Sahin et al ( 22 ) proposed a motion planning module for autonomous vehicles for the prediction of possible trajectories. For verification of the generated trajectories, STL formulas are proposed using traffic rules to monitor the behavior of the motion planning module and to ensure that the vehicle trajectory is conforming to the desired goals.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Since STL provides powerful expressive capabilities, its use in transportation is gaining traction. Many studies are using STL to describe various traffic systems as well as safe vehicle behavior ( 21 , 22 , 23 , 29 – 31 ). This reflects such systems becoming more integrated by combing both cyber and physical aspects and therefore producing continuous signals that can be expressed using formal languages such as STL.…”

Section: Preliminariesmentioning

confidence: 99%

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Toward Formalization and Monitoring of Microscopic Traffic Parameters Using Temporal Logic

Nour

Zaki

2022

Transportation Research Record: Journal of the Transportation R

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Smart mobility is transforming the way the current transportation network is envisioned. It holds the promise of a more sustainable, safer, and efficient future for commuters. Nevertheless, traffic management centers are constantly facing the challenges of ensuring that transportation system components are operating as expected and in a safe manner. As a result, research efforts on improving traffic monitoring aim to design and implement novel approaches for safety applications. In this paper, we adopt formal methods to specify and apply reason to the traffic network’s complex properties. Formal methods provide a framework to rigorously define the safe operation of the traffic network by capturing non-conforming travel behavior, exploring various possible states of vehicular traffic, and detecting any irregularities that may arise. In this work, a new approach to traffic monitoring is proposed, which uses specification-based monitoring. We develop monitors that define traffic parameters, such as conforming to speed limits and maintaining appropriate headway. A formal language known as Signal Temporal Logic is used to specify and analyze these traffic rules. The proposed framework is then applied to a calibrated micro-simulated highway network to identify whether individual vehicle trajectories violate or satisfy the proposed specifications. Statistical analysis of the outputs shows that our proposed approach is effective in differentiating between violating and conforming vehicles. This approach can be used by traffic management centers that are seeking to accommodate emerging mobility technologies that are autonomous and connected. In particular, the presented work can be valuable in studying traffic stream properties, identifying possible hazards, and providing valuable feedback for automating traffic monitoring systems.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Preliminariesmentioning

confidence: 99%

Toward Formalization and Monitoring of Microscopic Traffic Parameters Using Temporal Logic

Nour

Zaki

2022

Transportation Research Record: Journal of the Transportation R

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“…In the majority of the works [10]- [14] the STL formulas are encoded by integer variables and the agents' plans are obtained as solutions to MILP problems. Although suggestions towards reducing the computational burden have been made [15], these problems are known for the scalability issues arising as the optimization horizon or number of robots increases [12]. Addressing this problem, authors in [10] make use of the agents' past actions during planning increasing conservatism in the overall performance of the task.…”

Section: Introductionmentioning

confidence: 99%

Receding Horizon Control With Online Barrier Function Design Under Signal Temporal Logic Specifications

Charitidou

Dimarogonas

2023

IEEE Trans. Automat. Contr.

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“…In the past years, numerous algorithms have been developed for monitoring specifications described by, e.g., Linear Temporal Logic (LTL) [9], Metric Temporal Logic (MTL) [7], [23] and Signal Temporal Logic (STL) [6], [8]. Recent applications of specification-based monitoring techniques include, e.g., autonomous vehicles [21] and smart cities [16].…”

Section: Introductionmentioning

confidence: 99%

Online Monitoring of Dynamic Systems for Signal Temporal Logic Specifications with Model Information

Yu¹,

Dong²,

Yin³

et al. 2022

Preprint

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Online monitoring aims to evaluate or to predict, at runtime, whether or not the behaviors of a system satisfy some desired specification. It plays a key role in safetycritical cyber-physical systems. In this work, we propose a new model-based approach for online monitoring for specifications described by Signal Temporal Logic (STL) formulae. Specifically, we assume that the observed state traces are generated by an underlying dynamic system whose model is known. The main idea is to consider the dynamic of the system when evaluating the satisfaction of the STL formulae. To this end, effective approaches for the computation of feasible sets for STL formulae are provided. We show that, by explicitly utilizing the model information of the dynamic system, the proposed online monitoring algorithm can falsify or certify of the specification in advance compared with existing algorithms, where no model information is used. We also demonstrate the proposed monitoring algorithm by case studies.

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Autonomous Vehicle Decision-Making and Monitoring based on Signal Temporal Logic and Mixed-Integer Programming

Cited by 26 publications

References 12 publications

Toward Formalization and Monitoring of Microscopic Traffic Parameters Using Temporal Logic

Toward Formalization and Monitoring of Microscopic Traffic Parameters Using Temporal Logic

Receding Horizon Control With Online Barrier Function Design Under Signal Temporal Logic Specifications

Online Monitoring of Dynamic Systems for Signal Temporal Logic Specifications with Model Information

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