Experimental Evaluation and Formal Analysis of High‐Level Tasks with Dynamic Obstacle Anticipation on a Full‐Sized Autonomous Vehicle

Johnson, Benjamin; Havlak, Frank; Kress-Gazit, Hadas; Campbell, Mark

doi:10.1002/rob.21695

Cited by 11 publications

(5 citation statements)

References 45 publications

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“…Johnson et al [165] describe the specification in the Linear Temporal Logic language. They represent the AV behavior with a probabilistic model, and formally verify the system properties using the model checker PRISM.…”

Section: Correct-by-construction Synthesismentioning

confidence: 99%

Survey on Scenario-Based Safety Assessment of Automated Vehicles

et al. 2020

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When will automated vehicles come onto the market? This question has puzzled the automotive industry and society for years. The technology and its implementation have made rapid progress over the last decade, but the challenge of how to prove the safety of these systems has not yet been solved. Since a market launch without proof of safety would neither be accepted by society nor by legislators, much time and many resources have been invested into safety assessment in recent years in order to develop new approaches for an efficient assessment. This paper therefore provides an overview of various approaches, and gives a comprehensive survey of the so-called scenario-based approach. The scenario-based approach is a promising method, in which individual traffic situations are typically tested by means of virtual simulation. Since an infinite number of different scenarios can theoretically occur in real-world traffic, even the scenario-based approach leaves the question unanswered as to how to break these down into a finite set of scenarios, and find those which are representative in order to render testing more manageable. This paper provides a comprehensive literature review of related safety-assessment publications that deal precisely with this question. Therefore, this paper develops a novel taxonomy for the scenario-based approach, and classifies all literature sources. Based on this, the existing methods will be compared with each other and, as one conclusion, the alternative concept of formal verification will be combined with the scenario-based approach. Finally, future research priorities are derived.

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Section: Correct-by-construction Synthesismentioning

confidence: 99%

Survey on Scenario-Based Safety Assessment of Automated Vehicles

et al. 2020

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“…They compare quantities such as the AV velocity, trajectories and an overall stochastic risk measure. Johnson et al [97] apply a formal analysis based on correct-by-construction controller design and validate it by comparing the percentage of collision-free runs to a full-scale AV. Aramrattana et al [9] evaluate the influence of modeling errors and uncertainties on the controller performance.…”

Section: Deterministic Simulationsmentioning

confidence: 99%

Unified Framework and Survey for Model Verification, Validation and Uncertainty Quantification

Riedmaier

Danquah

Schick

et al. 2020

Arch Computat Methods Eng

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Simulation is becoming increasingly important in the development, testing and approval process in many areas of engineering, ranging from finite element models to highly complex cyber-physical systems such as autonomous cars. Simulation must be accompanied by model verification, validation and uncertainty quantification (VV&UQ) activities to assess the inherent errors and uncertainties of each simulation model. However, the VV&UQ methods differ greatly between the application areas. In general, a major challenge is the aggregation of uncertainties from calibration and validation experiments to the actual model predictions under new, untested conditions. This is especially relevant due to high extrapolation uncertainties, if the experimental conditions differ strongly from the prediction conditions, or if the output quantities required for prediction cannot be measured during the experiments. In this paper, both the heterogeneous VV&UQ landscape and the challenge of aggregation will be addressed with a novel modular and unified framework to enable credible decision making based on simulation models. This paper contains a comprehensive survey of over 200 literature sources from many application areas and embeds them into the unified framework. In addition, this paper analyzes and compares the VV&UQ methods and the application areas in order to identify strengths and weaknesses and to derive further research directions. The framework thus combines a variety of VV&UQ methods, so that different engineering areas can benefit from new methods and combinations. Finally, this paper presents a procedure to select a suitable method from the framework for the desired application.

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“…a = 1: First consider a = 1 and b = 1. In this case, the first iteration over The small numbers aibj on the top right of each state indicate the ranking (a, i, b, j) as in Figure 4 induced by ( 15) via (17). except q 4 , as q 4 ∈ 1 F A .…”

Section: Examplementioning

confidence: 99%

“…We consider the setting of GR(1) specifications, where assumptions and guarantees are both conjunctions of safety and Büchi properties [6]. GR (1) has emerged as an expressive specification formalism [23,27,17] and, unlike full linear temporal logic, synthesis for GR (1) can be implemented in time quadratic in the state/transition space. In our approach, the environment is assumed to satisfy its assumptions provided the system does not prevent this.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Environmentally-Friendly GR(1) Synthesis

Majumdar

Piterman

Schmuck

2019

Lecture Notes in Computer Science

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Many problems in reactive synthesis are stated using two formulas -an environment assumption and a system guarantee-and ask for an implementation that satisfies the guarantee in environments that satisfy their assumption. Reactive synthesis tools often produce strategies that formally satisfy such specifications by actively preventing an environment assumption from holding. While formally correct, such strategies do not capture the intention of the designer. We introduce an additional requirement in reactive synthesis, non-conflictingness, which asks that a system strategy should always allow the environment to fulfill its liveness requirements. We give an algorithm for solving GR(1) synthesis that produces non-conflicting strategies. Our algorithm is given by a 4-nested fixed point in the µ-calculus, in contrast to the usual 3-nested fixed point for GR(1). Our algorithm ensures that, in every environment that satisfies its assumptions on its own, traces of the resulting implementation satisfy both the assumptions and the guarantees. In addition, the asymptotic complexity of our algorithm is the same as that of the usual GR(1) solution. We have implemented our algorithm and show how its performance compares to the usual GR(1) synthesis algorithm.

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Experimental Evaluation and Formal Analysis of High‐Level Tasks with Dynamic Obstacle Anticipation on a Full‐Sized Autonomous Vehicle

Cited by 11 publications

References 45 publications

Survey on Scenario-Based Safety Assessment of Automated Vehicles

Survey on Scenario-Based Safety Assessment of Automated Vehicles

Unified Framework and Survey for Model Verification, Validation and Uncertainty Quantification

Environmentally-Friendly GR(1) Synthesis

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