Formalising and monitoring traffic rules for autonomous vehicles in Isabelle/HOL

Albert Rizaldi, Jonas Keinholz, Monika Huber, Jochen Feldle, Fabian Immler, Matthias Althoff, Eric Hilgendorf, Tobias Nipkow

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

58 Scopus citations


Recent accidents involving autonomous vehicles prompt us to consider how we can engineer an autonomous vehicle which always obeys traffic rules. This is particularly challenging because traffic rules are rarely specified at the level of detail an engineer would expect. Hence, it is nearly impossible to formally monitor behaviours of autonomous vehicles—which are expressed in terms of position, velocity, and acceleration—with respect to the traffic rules—which are expressed by vague concepts such as “maintaining safe distance”. We show how we can use the Isabelle theorem prover to do this by first codifying the traffic rules abstractly and then subsequently concretising each atomic proposition in a verified manner. Thanks to Isabelle’s code generation, we can generate code which we can use to monitor the compliance of traffic rules formally.

Original languageEnglish
Title of host publicationIntegrated Formal Methods - 13th International Conference, IFM 2017, Proceedings
EditorsSteve Schneider, Nadia Polikarpova
PublisherSpringer Verlag
Number of pages17
ISBN (Print)9783319668444
StatePublished - 2017
Event13th International Conference on Integrated Formal Methods, IFM 2017 - Turin, Italy
Duration: 20 Sep 201722 Sep 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10510 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference13th International Conference on Integrated Formal Methods, IFM 2017


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