Self-Driving Vehicle Verification Towards a...
Transcript of Self-Driving Vehicle Verification Towards a...
Self-DrivingVehicleVerificationTowardsaBenchmark
NimaRoohi,RamneetKaur,JamesWeimer,OlegSokolsky,InsupLee
UniversityofPennsylvania
July13,2018
•
July13,2018 2
WinterofAIforAutonomousVehicles
•
July13,2018 3
WinterofAIforAutonomousVehicles
• SystemSpecification– Finitesetofcars– Onlymoveforward
– Drivingonastraightroad• FiveVerificationChallenges– (Robust)Safety– (Robust)Liveness– ResponsibilitySensitiveSafety
• CurrentStateoftheAutomaticFormalVerificationTools– Unabletospecifyanyoftheseproblems
July13,2018 4
Outline
•
July13,2018 5
PositionandDelaySignals
•
July13,2018 6
MinimumLongitudinalDistanceSignal
•
July13,2018 7
DangerousLongitudinalSituationSignal
•
July13,2018 8
BlameTimeSignal
•
July13,2018 9
Policy
• SystemSpecification– Finitesetofcars– Onlymoveforward
– Drivingonastraightroad• VerificationChallenges– (Robust)Safety– (Robust)Liveness– ResponsibilitySensitiveSafety
• CurrentStateoftheAutomaticFormalVerificationTools– Unabletospecifyanyoftheseproblems
July13,2018 10
Outline
•
July13,2018 11
Safety
•
July13,2018 12
RobustlySafeandRobustlyUnsafe
• (robust)Liveness:– Somethinggoodwilleventuallyhappen
• RSS:– Incaseofanaccidenttherewillbearesponsibleparty
July13,2018 13
(Robust)LivenessandResponsibilitySensitiveSafety
• SystemSpecification– Finitesetofcars– Onlymoveforward
– Drivingonastraightroad• VerificationChallenges– (Robust)Safety– (Robust)Liveness– ResponsibilitySensitiveSafety
• CurrentStateoftheAutomaticFormalVerificationTools– Unabletospecifyanyoftheseproblems
July13,2018 14
Outline
July13,2018 15
Tools
• Wecannotevenspecifythesechallengesusingthesetools– markswhenatoolfails
– Whitecellsdonotguaranteeafeaturesupport
• Delayismadeexplicitindynamicsandpolicy
• Computationofblametimesignalisslightlychanged• Policyis(slightly)changed
July13,2018 16
AFewDifferences