self-driving vehicle verification towards a...

Self-DrivingVehicleVerificationTowardsaBenchmark

NimaRoohi,RamneetKaur,JamesWeimer,OlegSokolsky,InsupLee

UniversityofPennsylvania

July13,2018

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WinterofAIforAutonomousVehicles

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WinterofAIforAutonomousVehicles

•  SystemSpecification–  Finitesetofcars–  Onlymoveforward

–  Drivingonastraightroad•  FiveVerificationChallenges–  (Robust)Safety–  (Robust)Liveness–  ResponsibilitySensitiveSafety

•  CurrentStateoftheAutomaticFormalVerificationTools–  Unabletospecifyanyoftheseproblems

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Outline

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PositionandDelaySignals

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MinimumLongitudinalDistanceSignal

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DangerousLongitudinalSituationSignal

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BlameTimeSignal

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Policy

•  SystemSpecification–  Finitesetofcars–  Onlymoveforward

–  Drivingonastraightroad•  VerificationChallenges–  (Robust)Safety–  (Robust)Liveness–  ResponsibilitySensitiveSafety

•  CurrentStateoftheAutomaticFormalVerificationTools–  Unabletospecifyanyoftheseproblems

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Outline

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Safety

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RobustlySafeandRobustlyUnsafe

•  (robust)Liveness:–  Somethinggoodwilleventuallyhappen

•  RSS:–  Incaseofanaccidenttherewillbearesponsibleparty

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(Robust)LivenessandResponsibilitySensitiveSafety

•  SystemSpecification–  Finitesetofcars–  Onlymoveforward

–  Drivingonastraightroad•  VerificationChallenges–  (Robust)Safety–  (Robust)Liveness–  ResponsibilitySensitiveSafety

•  CurrentStateoftheAutomaticFormalVerificationTools–  Unabletospecifyanyoftheseproblems

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Outline

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Tools

•  Wecannotevenspecifythesechallengesusingthesetools–  markswhenatoolfails

– Whitecellsdonotguaranteeafeaturesupport

•  Delayismadeexplicitindynamicsandpolicy

•  Computationofblametimesignalisslightlychanged•  Policyis(slightly)changed

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AFewDifferences