相关论文: Towards a Digital Highway Code using Formal Modell…
In this paper, we present a modular system for representing and reasoning with legal aspects of traffic rules for autonomous vehicles. We focus on a subset of the United Kingdom's Highway Code (HC) related to junctions. As human drivers and…
Autonomous Vehicles (AVs) are complex systems that drive in uncertain environments and potentially navigate unforeseeable situations. Safety of these systems requires not only an absence of malfunctions but also high performance of…
With growing complexity and criticality of automated driving functions in road traffic and their operational design domains (ODD), there is increasing demand for covering significant proportions of development, validation, and verification…
To realize a market entry of autonomous vehicles in the foreseeable future, the behavior planning system will need to abide by the same rules that humans follow. Product liability cannot be enforced without a proper solution to the approval…
Autonomous systems are becoming increasingly prevalent in new vehicles. Due to their environmental friendliness and their remarkable capability to significantly enhance road safety, these vehicles have gained widespread recognition and…
Formal representations of traffic scenarios can be used to generate test cases for the safety verification of autonomous driving. However, most existing methods are limited to highway or highly simplified intersection scenarios due to the…
We build on our recent work on formalization of responsibility-sensitive safety (RSS) and present the first formal framework that enables mathematical proofs of the safety of control strategies in intersection scenarios. Intersection…
For a successful market launch of automated vehicles (AVs), proof of their safety is essential. Due to the open parameter space, an infinite number of traffic situations can occur, which makes the proof of safety an unsolved problem. With…
Studies have shown that autonomous vehicles (AVs) behave conservatively in a traffic environment composed of human drivers and do not adapt to local conditions and socio-cultural norms. It is known that socially aware AVs can be designed if…
Automated Vehicles (AVs) are rapidly maturing in the transportation domain. However, the complexity of the AV design problem is such that no single technique is sufficient to provide adequate validation of key properties such as safety,…
Safety and mission performance validation of autonomous vehicles (AVs) is a major challenge. In this paper we describe a methodology for constructing and applying assertion checks to validate the behaviour of an AV operating either in…
Human drivers naturally balance the risks of different concerns while driving, including traffic rule violations, minor accidents, and fatalities. However, achieving the same behavior in autonomous driving systems remains an open problem.…
This survey provides an analysis of current methodologies integrating legal and logical specifications into the perception, prediction, and planning modules of automated driving systems. We systematically explore techniques ranging from…
Realistic traffic simulation is crucial for developing self-driving software in a safe and scalable manner prior to real-world deployment. Typically, imitation learning (IL) is used to learn human-like traffic agents directly from…
Autonomous vehicles need to abide by the same rules that humans follow. Some of these traffic rules may depend on multiple agents or time. Especially in situations with traffic participants that interact densely, the interactions with other…
Driving on roads is restricted by various traffic rules, aiming to ensure safety for all traffic participants. However, human road users usually do not adhere to these rules strictly, resulting in varying degrees of rule conformity. Such…
Ensuring adherence to traffic sign regulations is essential for both human and autonomous vehicle navigation. While current online mapping solutions often prioritize the construction of the geometric and connectivity layers of HD maps,…
Timed automata are a common formalism for the verification of concurrent systems subject to timing constraints. They extend finite-state automata with clocks, that constrain the system behavior in locations, and to take transitions. While…
Modern AI technologies enable autonomous vehicles to perceive complex scenes, predict human behavior, and make real-time driving decisions. However, these data-driven components often operate as black boxes, lacking interpretability and…
Virtual testing of automated driving systems (ADS) has become an essential part of testing procedures for all automation levels. As ADS from automation level 3 and up are very complex, virtual testing for such systems is inevitable. The…