Formal Synthesis of Safe Stop Tactical Planners for an Automated Vehicle
Paper i proceeding, 2020

Automated vehicles need a safe back-up solution in the presence of system degradations since a driver cannot be expected to take control on short notice. In the event of a degradation, the vehicle is required to reach a minimal risk condition via a minimal risk maneuver. The activation of such maneuvers is safety critical, and a correct implementation of the tactical planner that takes the activation decision is paramount. One way to ensure correctness is to employ formal methods since they can provide proofs thereof. Earlier, a tactical planner was formally verified to activate a minimal risk maneuver if and only if a failure occurs. Formal verification has some drawbacks, so this paper investigates the applicability of using the tools Supremica and TuLiP to synthesize correct-by-construction tactical planners. These two tools amend some of the verification’s drawbacks, but also introduce their own.

Supervisory Control Theory

Reactive Synthesis

Automated Driving

Författare

Jonas Krook

Chalmers, Elektroteknik, System- och reglerteknik, Automation

Roozbeh Kianfar

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Martin Fabian

Chalmers, Elektroteknik, System- och reglerteknik, Automation

IFAC-PapersOnLine

24058963 (eISSN)

Vol. 53 4 445-452

15th IFAC Workshop on Discrete Event Systems WODES 2020
Rio de Janeiro, Brazil,

Styrkeområden

Transport

Ämneskategorier

Övrig annan teknik

Farkostteknik

Inbäddad systemteknik

DOI

10.1016/j.ifacol.2021.04.059

Mer information

Skapat

2021-05-17