CAJ | 학술논문

在各种不同类型交通事件的触发下,自主车辆的行为过程在连续和离散模式间动态切换,表现出复杂的混合系统的动态行为.采用形式验证技术研究自主车辆行为决策的安全验证方法.依据自主车辆环境感应器测得的原始数据,对其他车辆的初始状态进行估计,并根据自主车辆和其他车辆的不确定初始状态将其抽象为马尔科夫链.然后,利用离线产生的马尔科夫链进行车辆随机可达集的在线计算.最后,根据其他车辆的随机可达集以及自主车辆在规划路径引导下的随机可达集,计算碰撞概率.仿真例证表明该方法对于冲突概率的计算具有良好的时效性.
재각충불동류형교통사건적촉발하,자주차량적행위과정재련속화리산모식간동태절환,표현출복잡적혼합계통적동태행위.채용형식험증기술연구자주차량행위결책적안전험증방법.의거자주차량배경감응기측득적원시수거,대기타차량적초시상태진행고계,병근거자주차량화기타차량적불학정초시상태장기추상위마이과부련.연후,이용리선산생적마이과부련진행차량수궤가체집적재선계산.최후,근거기타차량적수궤가체집이급자주차량재규화로경인도하적수궤가체집,계산팽당개솔.방진예증표명해방법대우충돌개솔적계산구유량호적시효성.
Under triggered by different types of traffic events,the behavior of autonomous vehicle switched constantly between continuous and discrete modes and showed the complex dynamic behavior of hybrid systems.In this paper,a security validation approach for decision-making behavior of autonomous vehicle was proposed based on the formal verification.According to raw data measured by environment sensor of autonomous vehicle,the initial state of other vehicles was estimated,and the initial states of all vehicles were Abstracted to Markov chains.Then,the offline generated Markov chains were applied to the online computation of the stochastic reachable sets.Ultimately,the crash probability was approximated based on the stochastic reachable sets of other vehicle and the autonomous vehicle along planning trajectory.Simulation examples show that the proposed method has a good timeliness for the calculation of conflict probability.