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Carnegie Mellon Robotics Institute

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Abstract

We compute the set of all possible behaviors of an autonomous vehicle using reachability analysis. A reachable set is the set of states a system can possibly reach for a given set of initial states, disturbances, and sensor noise values. We consider autonomous vehicles which plan trajectories for a certain lookahead horizon which are followed using feedback control.While a perfectly followed trajectory might not violate specified safety properties (e.g. lane departures or vehicle collisions), there might exist a violating deviation from the planned trajectory. Given the mathematical model of the controlled vehicle and bounds on uncertainty, our approach detects any possible violation. In addition, the approach provides results faster than real time such that maneuvers of vehicles can be checked before they are fully executed.

Keywords

autonomous vehicles, vehicle behaviors, verification, reachability analysis, uncertainty

Notes

Associated Project(s): Autonomous Vehicle Safety Verification

Number of pages: 6

Text Reference

Matthias Althoff and John M. Dolan, "Set-Based Computation of Vehicle Behaviors for the Online Verification of Autonomous Vehicles," Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC), October, 2011, pp. 1162-1167.

BibTeX Reference

@inproceedings{Dolan_2011_7195,
   author = "Matthias Althoff and John M Dolan",
   title = "Set-Based Computation of Vehicle Behaviors for the Online Verification of Autonomous Vehicles",
   booktitle = "Proceedings of the IEEE Intelligent Transportation Systems Conference (ITSC)",
   pages = "1162-1167",
   month = "October",
   year = "2011",
}

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