You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at http://www.ieee.org/web/publications/rights/copyrightpolicy.html)
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at http://www.acm.org/pubs/copyright_policy/)
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact webmaster@ide.mdh.se

Formal Verification of Collision Avoidance for Nonlinear Autonomous Vehicle Models

Fulltext:


Publication Type:

Report - MRTC

Publisher:

Mälardalen Real-Time Research Centre, Mälardalen University

ISRN:

MDH-MRTC-335/2021-1-SE


Abstract

Autonomous vehicles are expected to be able to automatically avoid static and dynamic obstacles such as humans. However, most of the collision-avoidance functionality has not been formally verified, which is important for ensuring the safety of these systems. In this paper, we introduce the formal definitions of the vehicle's movement and trajectory based on hybrid transition systems. Since formally verifying hybrid systems is undecidable, we reduce the verification of nonlinear vehicle models to verification of discrete-time vehicle models and prove that the results of the latter imply the results of the former in this problem. Using this result, we propose a generic approach to formally verify autonomous vehicles with nonlinear behavior against reach-avoid requirements. Our approach provides a timed-automata model of vehicle behavior, and uses UPPAAL STRATEGO for verifying the model with user-programmed libraries of collision-avoidance algorithms. The experiments demonstrate the applicability of the approach, and its effectiveness in discovering bugs in a state-of-the-art version of a selected collision-avoidance algorithm, as well as proving the absence of bugs in the improved version of the algorithm.

Bibtex

@techreport{Gu6224,
author = {Rong Gu and Cristina Seceleanu and Eduard Paul Enoiu and Kristina Lundqvist},
title = {Formal Verification of Collision Avoidance for Nonlinear Autonomous Vehicle Models},
month = {April},
year = {2021},
publisher = {M{\"a}lardalen Real-Time Research Centre, M{\"a}lardalen University},
url = {http://www.es.mdu.se/publications/6224-}
}