Anytime Safety Verification of Autonomous Vehicles

Felix Gruber; Matthias Althoff

doi:10.1109/ITSC.2018.8569950

Anytime Safety Verification of Autonomous Vehicles

Felix Gruber, Matthias Althoff

Informatics 6 - Associate Professorship of Cyber Physical Systems

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1708-1714
Number of pages	7
ISBN (Electronic)	9781728103235
DOIs	https://doi.org/10.1109/ITSC.2018.8569950
State	Published - 7 Dec 2018
Event	21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018 - Maui, United States Duration: 4 Nov 2018 → 7 Nov 2018

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume	2018-November

Conference

Conference	21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018
Country/Territory	United States
City	Maui
Period	4/11/18 → 7/11/18

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10.1109/ITSC.2018.8569950

Cite this

Gruber, F., & Althoff, M. (2018). Anytime Safety Verification of Autonomous Vehicles. In 2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018 (pp. 1708-1714). Article 8569950 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; Vol. 2018-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2018.8569950

@inproceedings{db77072f085c4e99ba7d8559887368ef,

title = "Anytime Safety Verification of Autonomous Vehicles",

abstract = "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.",

author = "Felix Gruber and Matthias Althoff",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018 ; Conference date: 04-11-2018 Through 07-11-2018",

year = "2018",

month = dec,

day = "7",

doi = "10.1109/ITSC.2018.8569950",

language = "English",

series = "IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC",

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booktitle = "2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018",

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Gruber, F & Althoff, M 2018, Anytime Safety Verification of Autonomous Vehicles. in 2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018., 8569950, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, vol. 2018-November, Institute of Electrical and Electronics Engineers Inc., pp. 1708-1714, 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018, Maui, United States, 4/11/18. https://doi.org/10.1109/ITSC.2018.8569950

Anytime Safety Verification of Autonomous Vehicles. / Gruber, Felix; Althoff, Matthias.
2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1708-1714 8569950 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC; Vol. 2018-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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Anytime Safety Verification of Autonomous Vehicles

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