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Encoding and monitoring responsibility sensitive safety rules for automated vehicles in signal temporal logic

Authors:

Mohammad Hekmatnejad,

Shakiba Yaghoubi,

Adel Dokhanchi,

Aviral Shrivastava,

Georgios FainekosAuthors Info & Claims

MEMOCODE '19: Proceedings of the 17th ACM-IEEE International Conference on Formal Methods and Models for System Design

Article No.: 6, Pages 1 - 11

https://doi.org/10.1145/3359986.3361203

Published: 09 October 2019 Publication History

Abstract

As Automated Vehicles (AV) get ready to hit the public roads unsupervised, many practical questions still remain open. For example, there is no commonly acceptable formal definition of what safe driving is. A formal definition of safe driving can be utilized in developing the vehicle behaviors as well as in certification and legal cases. Toward that goal, the Responsibility-Sensitive Safety (RSS) model was developed as a first step toward formalizing safe driving behavior upon which the broader AV community can expand. In this paper, we demonstrate that the RSS model can be encoded in Signal Temporal Logic (STL). Moreover, using the S-TaLiRo tools, we present a case study of monitoring RSS requirements on selected traffic scenarios from CommonRoad. We conclude that monitoring RSS rules encoded in STL is efficient even in heavy traffic scenarios. One interesting observation is that for the selected traffic data, vehicle parameters and response times, the RSS model violations are not frequent.

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Cited By

Hekmatnejad MHoxha BDeshmukh JYang YFainekos G(2024)Formalizing and evaluating requirements of perception systems for automated vehicles using spatio-temporal perception logicThe International Journal of Robotics Research10.1177/02783649231223546Online publication date: 24-Jan-2024
https://doi.org/10.1177/02783649231223546
Khayatian MMehrabian MTseng ILin CBelta CShrivastava A(2024)Cooperative Driving of Connected Autonomous vehicle using Responsibility Sensitive Safety Rules: A Control Barrier Functions ApproachACM Transactions on Cyber-Physical Systems10.1145/36480048:3(1-26)Online publication date: 18-Apr-2024
https://dl.acm.org/doi/10.1145/3648004
Ma XYu WZhao CWang CZhou WZhao GMa MWang WYang LMu RWang HLi J(2024)Legal Decision-Making for Highway Automated DrivingIEEE Transactions on Intelligent Vehicles10.1109/TIV.2023.33182149:8(5284-5298)Online publication date: Aug-2024
https://doi.org/10.1109/TIV.2023.3318214
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cover image ACM Conferences

MEMOCODE '19: Proceedings of the 17th ACM-IEEE International Conference on Formal Methods and Models for System Design

October 2019

160 pages

ISBN:9781450369978

DOI:10.1145/3359986

General Chairs:
Partha Roop,
Naijun Zhan,
Program Chairs:
Sicun Gao,
Pierluigi Nuzzo

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 09 October 2019

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MEMOCODE '19: 17th ACM-IEEE International Conference on Formal Methods and Models for System Design

October 9 - 11, 2019

California, La Jolla

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MEMOCODE '19 Paper Acceptance Rate 12 of 34 submissions, 35%;

Overall Acceptance Rate 34 of 82 submissions, 41%

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Cited By

Hekmatnejad MHoxha BDeshmukh JYang YFainekos G(2024)Formalizing and evaluating requirements of perception systems for automated vehicles using spatio-temporal perception logicThe International Journal of Robotics Research10.1177/02783649231223546Online publication date: 24-Jan-2024
https://doi.org/10.1177/02783649231223546
Khayatian MMehrabian MTseng ILin CBelta CShrivastava A(2024)Cooperative Driving of Connected Autonomous vehicle using Responsibility Sensitive Safety Rules: A Control Barrier Functions ApproachACM Transactions on Cyber-Physical Systems10.1145/36480048:3(1-26)Online publication date: 18-Apr-2024
https://dl.acm.org/doi/10.1145/3648004
Ma XYu WZhao CWang CZhou WZhao GMa MWang WYang LMu RWang HLi J(2024)Legal Decision-Making for Highway Automated DrivingIEEE Transactions on Intelligent Vehicles10.1109/TIV.2023.33182149:8(5284-5298)Online publication date: Aug-2024
https://doi.org/10.1109/TIV.2023.3318214
Qi H(2024)Dilemma of Responsibility-Sensitive Safety in Longitudinal Mixed Autonomous Vehicles Flow: A Human-Driver-Error-Tolerant Driving StrategyIEEE Open Journal of Intelligent Transportation Systems10.1109/OJITS.2024.33979595(265-280)Online publication date: 2024
https://doi.org/10.1109/OJITS.2024.3397959
Wang SYin XLi SYin X(2024)Tractable Reinforcement Learning for Signal Temporal Logic Tasks With Counterfactual Experience ReplayIEEE Control Systems Letters10.1109/LCSYS.2024.33978448(616-621)Online publication date: 2024
https://doi.org/10.1109/LCSYS.2024.3397844
Manas KZwicklbauer SPaschke A(2024)TR2MTL: LLM based framework for Metric Temporal Logic Formalization of Traffic Rules2024 IEEE Intelligent Vehicles Symposium (IV)10.1109/IV55156.2024.10588650(1206-1213)Online publication date: 2-Jun-2024
https://doi.org/10.1109/IV55156.2024.10588650
Wang SLi SYin LYin X(2024)Synthesis of Temporally-Robust Policies for Signal Temporal Logic Tasks using Reinforcement Learning2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610510(10503-10509)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610510
Karnchanachari NGeromichalos DTan KLi NEriksen CYaghoubi SMehdipour NBernasconi GFong WGuo YCaesar H(2024)Towards learning-based planning: The nuPlan benchmark for real-world autonomous driving2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610077(629-636)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610077
Zhao YHoxha BFainekos GDeshmukh JLindemann L(2024)Robust Conformal Prediction for STL Runtime Verification under Distribution Shift2024 ACM/IEEE 15th International Conference on Cyber-Physical Systems (ICCPS)10.1109/ICCPS61052.2024.00022(169-179)Online publication date: 13-May-2024
https://doi.org/10.1109/ICCPS61052.2024.00022
Liu QWang YZheng YHong JYun MGao B(2024)Decision-Making Based on Signal Temporal Logic for Ramp Merging and Diverging of Autonomous Vehicle2024 4th International Conference on Computer, Control and Robotics (ICCCR)10.1109/ICCCR61138.2024.10585550(120-124)Online publication date: 19-Apr-2024
https://doi.org/10.1109/ICCCR61138.2024.10585550
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