Related papers: Towards Assume-Guarantee Profiles for Autonomous V…
This paper considers the problem of computing an optimal trajectory for an autonomous system that is subject to a set of potentially conflicting rules. First, we introduce the concept of prioritized safety specifications, where each rule is…
Autonomous vehicles rely on machine learning to solve challenging tasks in perception and motion planning. However, automotive software safety standards have not fully evolved to address the challenges of machine learning safety such as…
We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturbances. Such systems are made of small subsystems with coupled…
We assume that autonomous or highly automated driving (AD) will be accompanied by tough assurance obligations exceeding the requirements of even recent revisions of ISO 26262 or SOTIF. Hence, automotive control and safety engineers have to…
We develop an assume-guarantee contract framework for the design of cyber-physical systems, modeled as closed-loop control systems, under probabilistic requirements. We use a variant of signal temporal logic, namely, Stochastic Signal…
Current technologies are unable to produce massively deployable, fully autonomous vehicles that do not require human intervention. Such technological limitations are projected to persist for decades. Therefore, roadway scenarios requiring a…
Scenario-based testing has emerged as a common method for autonomous vehicles (AVs) safety assessment, offering a more efficient alternative to mile-based testing by focusing on high-risk scenarios. However, fundamental questions persist…
The problem of allocating accident responsibility for autonomous driving is a difficult issue in the field of autonomous driving. Due to the complexity of autonomous driving technology, most of the research on the responsibility of…
As self-driving systems become better, simulating scenarios where the autonomy stack may fail becomes more important. Traditionally, those scenarios are generated for a few scenes with respect to the planning module that takes ground-truth…
The development of Autonomous Vehicles (AVs) has made significant progress in the last years. An important aspect in the development of AVs is the assessment of their safety. New approaches need to be worked out. Among these, real-world…
The concept of scenario and its many qualifications -- specifically logical and abstract scenarios -- have emerged as a foundational element in safeguarding automated driving systems. However, the original linguistic definitions of the…
Designing, assuring and releasing safe automated vehicles is a highly interdisciplinary process. As complex systems, automated driving systems will inevitably be subject to emergent properties, i. e., the properties of the overall system…
There have been numerous advances in reinforcement learning, but the typically unconstrained exploration of the learning process prevents the adoption of these methods in many safety critical applications. Recent work in safe reinforcement…
Autonomous race cars require perception, estimation, planning, and control modules which work together asynchronously while driving at the limit of a vehicle's handling capability. A fundamental challenge encountered in designing these…
Autonomous driving systems are typically verified based on scenarios. To represent the positions and movements of cars in these scenarios, diagrams that utilize icons are typically employed. However, the interpretation of such diagrams is…
When a semi-autonomous car crashes and harms someone, how are blame and causal responsibility distributed across the human and machine drivers? In this article, we consider cases in which a pedestrian was hit and killed by a car being…
The development of Autonomous Vehicles (AVs) has made significant progress in the last years. An essential aspect in the development of AVs is the assessment of quality and performance aspects of the AVs, such as safety, comfort, and…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
The development of fully automated vehicles imposes new challenges in the development process and during the operation of such vehicles. As traditional design methods are not sufficient to account for the huge variety of scenarios which…
Testing of autonomous systems is extremely important as many of them are both safety-critical and security-critical. The architecture and mechanism of such systems are fundamentally different from traditional control software, which appears…