Using online verification to prevent autonomous vehicles from causing accidents
Using online verification to prevent autonomous vehicles from causing accidents
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DOI：
10.1038/s42256-020-0225-y
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发表时间：
2020-09
影响因子：
23.8
通讯作者：
Christian Pek;Stefanie Manzinger;Markus Koschi;M. Althoff
中科院分区：
文献类型：
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作者：
Christian Pek;Stefanie Manzinger;Markus Koschi;M. Althoff
确保自动驾驶汽车不会造成事故仍然是一个挑战。我们提出了一个形式化的验证技术，保证法律的安全，在任意的城市交通情况。法律的安全性意味着自动驾驶汽车永远不会造成事故，尽管其他交通参与者被允许根据交通规则执行任何行为。我们的技术可以作为现有运动规划框架的安全层，为自动驾驶汽车提供预期的轨迹。我们验证预期轨迹是否符合法律的安全性，并在安全关键情况下提供后备解决方案。我们的验证技术的好处是证明在关键的城市场景，这已被记录在真实的交通。自动驾驶汽车只执行安全的轨迹，即使使用的是不知道其他交通参与者的预期轨迹规划器。我们的研究结果表明，我们的在线验证技术可以大大减少交通事故的数量。
Ensuring that autonomous vehicles do not cause accidents remains a challenge. We present a formal verification technique for guaranteeing legal safety in arbitrary urban traffic situations. Legal safety means that autonomous vehicles never cause accidents although other traffic participants are allowed to perform any behaviour in accordance with traffic rules. Our technique serves as a safety layer for existing motion planning frameworks that provide intended trajectories for autonomous vehicles. We verify whether intended trajectories comply with legal safety and provide fallback solutions in safety-critical situations. The benefits of our verification technique are demonstrated in critical urban scenarios, which have been recorded in real traffic. The autonomous vehicle executed only safe trajectories, even when using an intended trajectory planner that was not aware of other traffic participants. Our results indicate that our online verification technique can drastically reduce the number of traffic accidents.