Autonomous Vehicles; Formal Methods; Safety; Fault-tolerant; Fault-tolerant capability; Overtaking maneuvers; Property; Safety modelling; Control and Systems Engineering; Electrical and Electronic Engineering
Abstract :
[en] Safety Models for Autonomous Vehicles often neglect fault tolerance, relying on strong assumptions over vehicles’ actuation, such as Responsibility-Sensitive Safety (RSS), which relies on static notions over vehicle’ actuation. This paper proposes to enhance RSS’s proper responses to support fault tolerance during complex maneuvers, specifically overtaking. The proposed approach is carefully built to comply with the original RSS notion of evasive maneuvers. Thus, it can be applied to enable Fault-Tolerant capabilities without losing its original properties. Moreover, the proposed proper responses are modeled using Signal Temporal Logic to promote the verification of system traces using formal methods.
Disciplines :
Computer science
Author, co-author :
Hoffmann, José Luis Conradi; Software/Hardware Integration Lab, Federal University of Santa Catarina, Florianópolis, Brazil
Fröhlich, Antônio Augusto; Software/Hardware Integration Lab, Federal University of Santa Catarina, Florianópolis, Brazil
VÖLP, Marcus ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > CritiX
External co-authors :
yes
Language :
English
Title :
Enhancing RSS to be Fault Tolerant During Overtaking Maneuvers
Publication date :
2024
Event name :
IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society
Event place :
Chicago, Usa
Event date :
03-11-2024 => 06-11-2024
Audience :
International
Main work title :
IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society, Proceedings
This study was financed in part by the Coordena\u00E7\u00E3o de Aperfei\u00E7oamento de Pessoal de N\u00EDvel Superior - Brasil (CAPES) - Finance Code 001, and by FUNDEP Rota 2030/Linha VI project AutoDL - Finance Code 29271.03.01/2023.04-00.
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