TY - GEN
T1 - Anytime Safety Verification of Autonomous Vehicles
AU - Gruber, Felix
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/7
Y1 - 2018/12/7
N2 - We propose a procedure to formally verify the safety of autonomous vehicles online, i.e., during operation, that considers the uniqueness of each traffic situation. A challenging aspect of online verification is the varying number of surrounding traffic participants, which causes significant variations in computational demand. To guarantee timely safe motion plans, we propose an anytime approach that provides rapid conservative verification results based on coarse model abstractions, which are refined continually if computation time is available. Reachability analysis, which over-approximates all possible behaviors of other traffic participants, is performed for each abstraction. We demonstrate the usefulness of the proposed procedure using the CommonRoad benchmark suite.
AB - We propose a procedure to formally verify the safety of autonomous vehicles online, i.e., during operation, that considers the uniqueness of each traffic situation. A challenging aspect of online verification is the varying number of surrounding traffic participants, which causes significant variations in computational demand. To guarantee timely safe motion plans, we propose an anytime approach that provides rapid conservative verification results based on coarse model abstractions, which are refined continually if computation time is available. Reachability analysis, which over-approximates all possible behaviors of other traffic participants, is performed for each abstraction. We demonstrate the usefulness of the proposed procedure using the CommonRoad benchmark suite.
UR - http://www.scopus.com/inward/record.url?scp=85060492874&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2018.8569950
DO - 10.1109/ITSC.2018.8569950
M3 - Conference contribution
AN - SCOPUS:85060492874
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 1708
EP - 1714
BT - 2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018
Y2 - 4 November 2018 through 7 November 2018
ER -