Al-Nuaimi, M., Wibowo, S., Qu, H. et al. (2 more authors) (2021) Hybrid verification technique for decision-making of self-driving vehicles. Journal of Sensor and Actuator Networks, 10 (3). 42.
Abstract
The evolution of driving technology has recently progressed from active safety features and ADAS systems to fully sensor-guided autonomous driving. Bringing such a vehicle to market requires not only simulation and testing but formal verification to account for all possible traffic scenarios. A new verification approach, which combines the use of two well-known model checkers: model checker for multi-agent systems (MCMAS) and probabilistic model checker (PRISM), is presented for this purpose. The overall structure of our autonomous vehicle (AV) system consists of: (1) A perception system of sensors that feeds data into (2) a rational agent (RA) based on a belief–desire–intention (BDI) architecture, which uses a model of the environment and is connected to the RA for verification of decision-making, and (3) a feedback control systems for following a self-planned path. MCMAS is used to check the consistency and stability of the BDI agent logic during design-time. PRISM is used to provide the RA with the probability of success while it decides to take action during run-time operation. This allows the RA to select movements of the highest probability of success from several generated alternatives. This framework has been tested on a new AV software platform built using the robot operating system (ROS) and virtual reality (VR) Gazebo Simulator. It also includes a parking lot scenario to test the feasibility of this approach in a realistic environment. A practical implementation of the AV system was also carried out on the experimental testbed.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 The Authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
Keywords: | self-driving vehicle; formal verification; model checking; rational agent; decision-making; ROS |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 08 Jul 2021 13:31 |
Last Modified: | 08 Jul 2021 13:31 |
Status: | Published |
Publisher: | MDPI AG |
Refereed: | Yes |
Identification Number: | 10.3390/jsan10030042 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:175716 |