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Towards a Two-layer Framework for Verifying Autonomous Vehicles
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-7663-5497
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0003-2870-2680
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0003-0904-3712
2019 (English)In: NASA Formal Methods. NFM 2019. Lecture Notes in Computer Science, vol 11460, 2019Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous vehicles rely heavily on intelligent algorithms for path planning and collision avoidance, and their functionality and dependability could be ensured through formal verification. To facilitate the verification, it is beneficial to decouple the static high-level planning from the dynamic functions like collision avoidance. In this paper, we propose a conceptual two-layer framework for verifying autonomous vehicles, which consists of a static layer and a dynamic layer. We focus concretely on modeling and verifying the dynamic layer using hybrid automata and UPPAAL SMC, where a continuous movement of the vehicle as well as collision avoidance via a dipole flow field algorithm are considered. This framework achieves decoupling by separating the verification of the vehicle's autonomous path planning from that of the vehicle autonomous operation in a continuous dynamic environment. To simplify the modeling process, we propose a pattern-based design method, where patterns are expressed as hybrid automata. We demonstrate the applicability of the dynamic layer of our framework on an industrial prototype of an autonomous wheel loader.

Place, publisher, year, edition, pages
2019.
Series
Lecture Notes in Computer Science, ISSN 0302-9743 ; 11460
National Category
Engineering and Technology Computer Systems
Identifiers
URN: urn:nbn:se:mdh:diva-43924DOI: 10.1007/978-3-030-20652-9_12Scopus ID: 2-s2.0-85066869584ISBN: 9783030206512 (print)OAI: oai:DiVA.org:mdh-43924DiVA, id: diva2:1327382
Conference
11th Annual NASA Formal Methods Symposium NFM 2019, 07 May 2019, Houston, United States
Projects
DPAC - Dependable Platforms for Autonomous systems and ControlAvailable from: 2019-06-19 Created: 2019-06-19 Last updated: 2019-06-20Bibliographically approved

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Gu, RongMarinescu, RalucaSeceleanu, CristinaLundqvist, Kristina

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CiteExportLink to record
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