A Systematic Framework to Identify Violations of Scenario-dependent Driving Rules in Autonomous Vehicle Software
A Systematic Framework to Identify Violations of Scenario-dependent Driving Rules in Autonomous Vehicle Software
复制标题
识别自动驾驶汽车软件中违反场景相关驾驶规则的系统框架
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Z. Morley Mao
中科院分区：
文献类型：
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作者：
Qingzhao Zhang;David Ke Hong;Ze Zhang;Qi Alfred Chen;S. Mahlke;Z. Morley Mao
安全合规性对于自动驾驶汽车（AV）技术在现实交通系统中的安全部署至关重要。由于无人驾驶汽车将与人类驾驶员和行人共享道路基础设施，因此遵守标准驾驶规则是无人驾驶汽车的重要要求。现有的自动驾驶软件测试方法，包括模拟和道路测试，只检查基本的安全规则，如碰撞避免和安全距离。场景相关的驾驶规则，包括人行横道和交叉口规则，更复杂，因为预期的驾驶行为很大程度上取决于周围的情况。然而，一个测试框架是缺失的，用于检查各种AV软件上的依赖于网络的驾驶规则。在本文中，我们设计并实现了一个系统的框架AVRISK，用于识别违反AV软件中依赖于驱动规则的行为，使用形式化的方法。AVRIGHTS代表了AV软件的代码逻辑和提出的正式规范中的驱动规则，并利用可满足性模理论（SMT）求解器来识别违反驱动规则的行为。为了提高系统的基于规则的检查的自动化程度，AVCITY提供了一个强大的用户界面，用于编写驱动规则规范，并应用静态代码分析从AV软件代码库中提取与规则相关的代码逻辑。在两个开源的自动驾驶软件平台百度Apollo和Autoware上进行的评估发现，在28个真实的驾驶规则中，有19个是真正的违规行为，这些规则涵盖了人行横道、交通信号灯、停车标志和十字路口。其中七项违规行为可能导致与行人相撞或阻碍交通的严重风险。
Safety compliance is paramount to the safe deployment of autonomous vehicle (AV) technologies in real-world transportation systems. As AVs will share road infrastructures with human drivers and pedestrians, it is an important requirement for AVs to obey standard driving rules. Existing AV software testing methods, including simulation and road testing, only check fundamental safety rules such as collision avoidance and safety distance. Scenario-dependent driving rules, including crosswalk and intersection rules, are more complicated because the expected driving behavior heavily depends on the surrounding circumstances. However, a testing framework is missing for checking scenario-dependent driving rules on various AV software. In this paper, we design and implement a systematic framework AVChecker for identifying violations of scenario-dependent driving rules in AV software using formal methods. AVChecker represents both the code logic of AV software and driving rules in proposed formal specifications and leverages satisfiability modulo theory (SMT) solvers to identify driving rule violations. To improve the automation of systematic rule-based checking, AVChecker provides a powerful user interface for writing driving rule specifications and applies static code analysis to extract rule-related code logic from the AV software codebase. Evaluations on two open-source AV software platforms, Baidu Apollo and Autoware, uncover 19 true violations out of 28 real-world driving rules covering crosswalks, traffic lights, stop signs, and intersections. Seven of the violations can lead to severe risks of a collision with pedestrians or blocking traffic.
DOI：
10.1109/eurosp48549.2020.00035
发表时间：
2020-09
期刊：
2020 IEEE European Symposium on Security and Privacy (EuroS&P)
影响因子：
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作者：
David Ke Hong;John Kloosterman;Yuqi Jin;Yulong Cao;Qi Alfred Chen;S. Mahlke;Z. Morley Mao
通讯作者：
David Ke Hong;John Kloosterman;Yuqi Jin;Yulong Cao;Qi Alfred Chen;S. Mahlke;Z. Morley Mao
DOI：
10.1007/978-3-319-40648-0_14
发表时间：
2016-06
期刊：
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影响因子：
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作者：
Albert Rizaldi;Fabian Immler;M. Althoff
通讯作者：
Albert Rizaldi;Fabian Immler;M. Althoff
用于编译器插入程序检测的 CSI 框架
DOI：
10.1145/3154502
发表时间：
2017
期刊：
Proceedings of the ACM on Measurement and Analysis of Computing Systems
影响因子：
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作者：
Schardl, Tao B.;Denniston, Tyler;Doucet, Damon;Kuszmaul, Bradley C.;Lee, I-Ting Angelina;Leiserson, Charles E.
通讯作者：
Leiserson, Charles E.