Design and Formal Verification of a Safe Stop Supervisor for an Automated Vehicle
Paper i proceeding, 2019

Autonomous vehicles apply pertinent planning and control algorithms under different driving conditions. The mode switch between these algorithms should also be autonomous. On top of the nominal planners, a safe fallback routine is needed to stop the vehicle at a safe position if nominal operational conditions are violated, such as for a system failure. This paper describes the design and formal verification of a supervisor to manage all requirements for mode switching between nominal planners, and additional requirements for switching to a safe stop trajectory planner that acts as the fallback routine. The supervisor is designed via a model-based approach and its abstraction is formally verified by model checking. The supervisor is implemented and integrated with the Research Concept Vehicle, an experimental research and demonstration vehicle developed at the KTH Royal Institute of Technology. Simulations and experiments show that the vehicle is able to autonomously drive in a safe manner between two parking lots and can successfully come to a safe stop upon GPS sensor failure.


Jonas Krook

Chalmers, Elektroteknik, System- och reglerteknik

Lars Svensson

Kungliga Tekniska Högskolan (KTH)

Yuchao Li

Kungliga Tekniska Högskolan (KTH)

Lei Feng

Kungliga Tekniska Högskolan (KTH)

Martin Fabian

Chalmers, Elektroteknik, System- och reglerteknik

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

978-1-5386-6026-3 (ISBN)

2019 International Conference on Robotics and Automation (ICRA)
Palais des congres de Montreal, Montreal, Canada, Canada,




Transportteknik och logistik

Inbäddad systemteknik

Robotteknik och automation





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