Abstract
Autonomous vehicles are gaining popularity throughout the world among researchers and consumers. However, their popularity has not yet reached the level where it is widely accepted as a fully developed technology as a large portion of the consumer base feels skeptical about it. Proving the correctness of this technology will help in establishing faith in it. That is easier said than done because of the fact that the formal verification techniques has not attained the level of development and application that it is ought to. In this work, we present Statistical Model Checking (SMC) as a possible solution for verifying the safety of autonomous systems and algorithms. We apply it on Heuristic Autonomous Intersection Management (HAIM) algorithm. The presented verification routine can be adopted for other conflict point based autonomous intersection management algorithms as well. Along with verifying the HAIM, we also demonstrate the modeling and verification applied at each stage of development to verify the inherent behavior of the algorithm. The HAIM scheme is formally modeled using a variant of the language of Timed Automata. The model consists of automata that encode the behavior of vehicles, intersection manager (IM) and collision checkers. To verify the complete nature of the heuristic and ensure correct modeling of the system, we model it in layers and verify each layer separately for their expected behavior. Along with that, we perform implementation verification and error injection testing to ensure faithful modeling of the system. Results show with high confidence the freedom from collisions of the intersection controlled by the HAIM algorithm.
Highlights
Autonomous technology is making its presence felt more and more in human life
Along with verifying the Heuristic Autonomous Intersection Management (HAIM), we demonstrate the modeling and verification applied at each stage of development to verify the inherent behavior of the algorithm
Our work differs from this work in two respects, which are (i) We present verification of the autonomous intersection management algorithm as applied on a four-way intersection with 3 lanes in either direction and (ii) We use model-theoretic verification because the model of the system involves much realistic situations such as dynamic and non-deterministic instantiation of vehicles, custom data structure and layered nature of the heuristic which makes model checking the preferred choice because of its ability to perform precise modeling of such system which would otherwise be complex and error-prone in a theorem prover such as KeYmaera
Summary
Autonomous technology is making its presence felt more and more in human life. More things are getting automated than ever. Autonomous vehicles are rising in popularity and they are projected to transform the traffic we see today into an intelligent group of vehicles that can communicate and cooperate with each other either using mutual negotiations or by following instructions of a central coordinator. Every vehicle in such a scenario will behave in a manner that will collectively result in optimum performance of the traffic scenario under consideration. We will have a system that is much more intelligent and cooperative than present-day systems
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