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Project

#95 Computer Aided Design for Safe Autonomous Vehicles


Principal Investigator
Rahul Mangharam
Status
Active
Start Date
July 1, 2017
End Date
June 30, 2021
Research Type
Applied
Grant Type
Research
Grant Program
FAST Act - Mobility National (2016 - 2022)
Grant Cycle
Mobility21 - University of Pennsylvania
Visibility
Public

Abstract

Objective
This project focuses on establishing a systematic set of testing benchmarks to ensure the safety of an autonomous vehicle given its perception, planning and control systems. We will design an autonomous vehicle computer-aided design (CAD) toolchain, which captures formal descriptions of driving scenarios in order to develop a safety case for an autonomous vehicle (AV). Rather than focus on a particular component of the AV, like adaptive cruise control, the toolchain models the end-to-end dynamics of the AV in a formal way suitable for testing and verification. 
    
Description
Methodology
First, a domain-specific language capable of describing the scenarios that occur in the day-to-day operation of an AV is defined. The language allows the description and composition of traffic participants, and the specification of formal correctness requirements. A scenario described in this language is an executable that can be processed by a specification-guided automated test generator (bug hunting), and by an exhaustive reachability tool. The toolchain allows the user to exploit and integrate the strengths of both testing and reachability, in a way not possible when each is run alone. Finally, given a particular execution of the scenario that violates the requirements, a visualization tool can display this counter-example and generate labeled sensor data. 
    
Timeline
1. Develop toolchain
2. Evaluate real visual image data sets with simulator data sets 
3. Create multiple driving scenarios and complete safety analysis on an interactive website    
Deployment Plan
Deliverables
The effectiveness of the approach will be demonstrated on five autonomous driving scenarios drawn from a collection of 36 scenarios that account for over 95% of accidents nationwide.     
Expected Accomplishments and Metrics
These case studies will demonstrate robustness-guided verification heuristics to reduce analysis time, counterexample visualization for identifying controller bugs in both the discrete decision logic and low-level analog (continuous) dynamics, and identification of modeling errors that lead to unrealistic environment behavior.     

Individuals Involved

Email Name Affiliation Role Position
rahulm@seas.upenn.edu Mangharam, Rahul University of Pennsylvania PI Faculty - Tenured
mokelly@seas.upenn.edu O'Kelly, Matthew University of Pennsylvania Other Student - PhD

Budget

Amount of UTC Funds Awarded
$185000.00
Total Project Budget (from all funding sources)
$185000.00

Documents

Type Name Uploaded
Publication Computer_Aided_Design_for_Safe_Autonomous_Vehicles_ltstjYR.pdf April 17, 2018, 8:45 a.m.
Presentation AVCAD_-_Drivers_License_Test_for_Driverless_Vehicles.pdf April 17, 2018, 8:45 a.m.
Publication Relaxed_decidability_and_the_robust_semantics_of_Metric_Temporal.pdf April 17, 2018, 8:48 a.m.
Publication AVs_Safe_at_Any_Speed_cyPhy18.pdf April 17, 2018, noon
Progress Report 95_Progress_Report_2018-03-30 April 17, 2018, noon
Publication MOBILITY21-Strategic-Investments-for-Transportation-Infrastructure-Technology_mrsfcJj.pdf Nov. 30, 2018, 8:02 p.m.
Progress Report 95_Progress_Report_2018-09-30 Nov. 30, 2018, 8:02 p.m.
Data Management Plan DataManagement.pdf Feb. 12, 2019, 12:05 p.m.
Presentation Computer_Aided_Design_for_Safe_Autonomous_Vehicles_slides.pdf Nov. 18, 2019, 8:18 a.m.
Publication Anytime Computation and Control for Autonomous Systems Nov. 18, 2019, 8:18 a.m.
Publication FADS: Framework for Autonomous Drone Safety Nov. 18, 2019, 8:18 a.m.
Publication Temporal Logic Robustness for General Signal Classes Nov. 18, 2019, 8:18 a.m.
Presentation Safety Benchmarks for Autonomous Vehicles Nov. 18, 2019, 8:18 a.m.
Presentation Foundations of Safe Autonomy Nov. 18, 2019, 8:18 a.m.
Presentation Building Safe Autonomous Vehicles Nov. 18, 2019, 8:18 a.m.
Presentation Building Safe Autonomous Vehicles Nov. 18, 2019, 8:18 a.m.
Presentation Building Safe Autonomous Vehicles Nov. 18, 2019, 8:18 a.m.
Presentation Autonomous Racing Competition IV Nov. 18, 2019, 8:18 a.m.
Presentation Autonomous Racing Competition V Nov. 18, 2019, 8:18 a.m.
Presentation Driver's License Test for Driverless Vehicles Nov. 18, 2019, 8:18 a.m.
Presentation F1/10 Autonomous Racing Nov. 18, 2019, 8:18 a.m.
Presentation Autonomous Systems Research at Penn Nov. 18, 2019, 8:18 a.m.
Presentation Autonomous Air Traffic Controller Nov. 23, 2019, 2:58 p.m.
Presentation Autonomous Systems Research at Penn Nov. 18, 2019, 8:18 a.m.
Presentation Bridging Machine Learning and Controls Nov. 18, 2019, 8:18 a.m.
Presentation Autonomous Systems Research at Penn Nov. 18, 2019, 8:18 a.m.
Presentation Bridging Machine Learning and Controls Nov. 18, 2019, 8:18 a.m.
Presentation Autonomous Systems Research at Penn Nov. 18, 2019, 8:18 a.m.
Presentation Autonomous Systems Research at Penn Nov. 18, 2019, 8:18 a.m.
Presentation Autonomous Racing Research Workshop Nov. 18, 2019, 8:18 a.m.
Progress Report 95_Progress_Report_2020-03-30 Nov. 18, 2019, 8:19 a.m.

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