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Design and Formal Verification of a Safe Stop Supervisor for an Automated Vehicle
Zenuity, Gothenburg, Sweden.;Chalmers, Gothenburg, Sweden..
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.ORCID iD: 0000-0001-6492-1966
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-1857-2301
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.ORCID iD: 0000-0001-5703-5923
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2019 (English)In: 2019 International Conference on Robotics and Automation, (ICRA) / [ed] Howard, A Althoefer, K Arai, F Arrichiello, F Caputo, B Castellanos, J Hauser, K Isler, V Kim, J Liu, H Oh, P Santos, V Scaramuzza, D Ude, A Voyles, R Yamane, K Okamura, A, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 5607-5613, article id 8793636Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous vehicles apply pertinent planning and control algorithms under different driving conditions. The mode switch between these algorithms should also be autonomous. On top of the nominal planners, a safe fallback routine is needed to stop the vehicle at a safe position if nominal operational conditions are violated, such as for a system failure. This paper describes the design and formal verification of a supervisor to manage all requirements for mode switching between nominal planners, and additional requirements for switching to a safe stop trajectory planner that acts as the fallback routine. The supervisor is designed via a model-based approach and its abstraction is formally verified by model checking. The supervisor is implemented and integrated with the Research Concept Vehicle, an experimental research and demonstration vehicle developed at the KTH Royal Institute of Technology. Simulations and experiments show that the vehicle is able to autonomously drive in a safe manner between two parking lots and can successfully come to a safe stop upon GPS sensor failure.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 5607-5613, article id 8793636
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-265512DOI: 10.1109/ICRA.2019.8793636ISI: 000494942304015Scopus ID: 2-s2.0-85071463188ISBN: 978-1-5386-6026-3 (print)OAI: oai:DiVA.org:kth-265512DiVA, id: diva2:1378576
Conference
2019 International Conference on Robotics and Automation, ICRA 2019; Palais des Congres de Montreal, Montreal; Canada; 20 May 2019 through 24 May 2019
Note

QC 20191213

Available from: 2019-12-13 Created: 2019-12-13 Last updated: 2020-01-08Bibliographically approved

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Svensson, LarsLi, YuchaoFeng, Lei

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