Nenchev, Vladislav, Imrie, Calum Corrie, Gerasimou, Simos orcid.org/0000-0002-2706-5272 et al. (1 more author) (Accepted: 2025) Compositional code-level safety verification for automated driving controllers. Journal of Systems and Software. ISSN 0164-1212 (In Press)
Abstract
Ensuring the safety of automated driving vehicles is particularly challenging due to the wide range of their operating conditions. This paper introduces CoCoSaFe, a Compositional Code-level formal Safety verification Framework for automated driving controllers. Unlike traditional verification methods, such as model-based analysis, counterexample detection by guided simulation, or runtime verification through online monitoring, our approach verifies controller implementations directly at code level in an offline setting. Compositional contracts and bounded model checking are employed to assess the implementation of subsystem controllers against invariant sets. For neural network-based controllers, we introduce a scalable three-step decomposition method that utilizes a neural network verifier. CoCoSaFe is applied to adaptive cruise and lane-keeping controllers, for which we derive formal specifications and analytical models of the desired longitudinal and lateral behaviors, amenable for decoupled invariant sets. Various types of traditional and neural network controllers are verified in the order of minutes, showcasing its broad applicability and effectiveness in ensuring behavioral safety of software for automated driving and similar cyber–physical systems.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy. |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Depositing User: | Pure (York) |
Date Deposited: | 04 Jun 2025 11:30 |
Last Modified: | 04 Jun 2025 11:30 |
Published Version: | https://doi.org/10.1016/j.jss.2025.112499 |
Status: | In Press |
Refereed: | Yes |
Identification Number: | 10.1016/j.jss.2025.112499 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:227439 |
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Filename: compositional_code-level_safety_verification_for_automated_driving_controllers.pdf
Description: Accepted manuscript
Licence: CC-BY 2.5
