Online Verification of Automated Road Vehicles Using Reachability Analysis - Robotics Institute Carnegie Mellon University

Online Verification of Automated Road Vehicles Using Reachability Analysis

Matthias Althoff and John M. Dolan
Journal Article, IEEE Transactions on Robotics, Vol. 30, No. 4, pp. 903 - 918, August, 2014

Abstract

An approach for formally verifying the safety of automated vehicles is proposed. Due to the uniqueness of each traffic situation, we verify safety online, i.e., during the operation of the vehicle. The verification is performed by predicting the set of all possible occupancies of the automated vehicle and other traffic participants on the road. In order to capture all possible future scenarios, we apply reachability analysis to consider all possible behaviors of mathematical models considering uncertain inputs (e.g., sensor noise, disturbances) and partially unknown initial states. Safety is guaranteed with respect to the modeled uncertainties and behaviors if the occupancy of the automated vehicle does not intersect that of other traffic participants for all times. The applicability of the approach is demonstrated by test drives with an automated vehicle at the Robotics Institute at Carnegie Mellon University.

Notes
http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6784493

BibTeX

@article{Althoff-2014-7918,
author = {Matthias Althoff and John M. Dolan},
title = {Online Verification of Automated Road Vehicles Using Reachability Analysis},
journal = {IEEE Transactions on Robotics},
year = {2014},
month = {August},
volume = {30},
number = {4},
pages = {903 - 918},
keywords = {automated vehicles, autonomous cars, formal verification, reachability analysis, set-based computation},
}