Statistical Model-Checking for Autonomous Vehicle Safety Validation

Benoît Barbot 1, 2 Béatrice Bérard 2, 3, 4 Yann Duplouy 2, 4, 5 Serge Haddad 2, 4
3 MoVe - Modélisation et Vérification
LIP6 - Laboratoire d'Informatique de Paris 6
4 MEXICO - Modeling and Exploitation of Interaction and Concurrency
LSV - Laboratoire Spécification et Vérification [Cachan], ENS Cachan - École normale supérieure - Cachan, Inria Saclay - Ile de France, CNRS - Centre National de la Recherche Scientifique : UMR8643
Abstract : We present an application of statistical model-checking to the verification of an autonomous vehicle controller. Our goal is to check safety properties in various traffic situations. More specifically, we focus on a traffic jam situation. The controller is specified by a C++ program. Using sensors, it registers positions and velocities of nearby vehicles and modifies the position and velocity of the controlled vehicle to avoid collisions. We model the environment using a stochastic high level Petri net, where random behaviors of other vehicles can be described. We use HASL, a quantitative variant of linear temporal logic, to express the desired properties. A large family of performance indicators can be specified in HASL and we target in particular the expectation of travelled distance or the collision probability. We evaluate the properties of this model using COSMOS 1. This simulation tool implements numerous statistical techniques such as sequential hypothesis testing and most confidence range computation methods. Its efficiency allowed us to conduct several experiments with success.
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Communication dans un congrès
SIA Simulation Numérique, Mar 2017, Montigny-le-Bretonneux, France
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https://hal.archives-ouvertes.fr/hal-01491064
Contributeur : Yann Duplouy <>
Soumis le : jeudi 16 mars 2017 - 12:02:01
Dernière modification le : mardi 21 mars 2017 - 14:19:43

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Benoît Barbot, Béatrice Bérard, Yann Duplouy, Serge Haddad. Statistical Model-Checking for Autonomous Vehicle Safety Validation. SIA Simulation Numérique, Mar 2017, Montigny-le-Bretonneux, France. <hal-01491064>

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