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Modelling and Proving Safety in Autonomous Cars Scenarios in HOL-CSP

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Titel: Modelling and Proving Safety in Autonomous Cars Scenarios in HOL-CSP
Autoren: Crisafulli, Paolo, Taha, Safouan, Wolff, Burkhart
Weitere Verfasser: IRT SystemX, Laboratoire Méthodes Formelles (LMF), Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay), University Paris-Saclay, IRT SystemX, Palaiseau
Quelle: https://inria.hal.science/hal-03429597 ; [Research Report] 1, University Paris-Saclay; IRT SystemX, Palaiseau. 2021, pp.81.
Verlagsinformationen: CCSD
Publikationsjahr: 2021
Schlagwörter: Isabelle-HOL, Formal Proofs, Autonomous Critical Systems, Concurrent Processes, Driving assistance, [SCCO.COMP]Cognitive science/Computer science, [SPI]Engineering Sciences [physics]
Beschreibung: We present an approach to model scenarios of autonomous cars in HOL-CSP [10] and prove particular safety properties via interactive proofs in the Isabelle/HOL system (https: //en.wikipedia.org/wiki/Isabelle_(proof_assistant)).The basis of this work is an ontology for Autonomous Car Scenarios given in MOSAR (https://www.mosar.io) that describes a collection of actors (e.g. cars, trucks, bicycles), equipments (e.g. signals, vehicle lights, etc.), infrastructures (e.g. expressways, intersec- tions, etc.) and their dynamic interactions throughout driving scenarios.We represent the behaviour of actors and (rudimentarily) equipments as processes, i.e. infinite sets of traces denoting classes of scenarios. In particular, actors were represented as HOL-CSP processes. Due to the non-determinism and event-polymorphism of HOL-CSP, actor descriptions can be partially defined wrt. to data and arbitrarily ”chaotic” in their behaviour. A translation scheme of MOSAR-ontologies into actor processes in HOL-CSP is sketched.For a particular scenario described in [9] (two cars in a linear line, no backwards driving) we specialize our framework and demonstrate a machine-checked safety proof: If all the actors apply a particular driving strategy taking into account position, speed and acceleration as well as distance to the car in front, there will be no situation with a collision. This strategy — called Responsibility-Sensitive Safety — is formulated as a function and the resulting invariant formally proven in Isabelle/HOL, while overcoming a number of short-comings in both the original modeling and the original paper-and-pencil proof.
Publikationsart: report
Sprache: English
Relation: Report N°: 1
Verfügbarkeit: https://inria.hal.science/hal-03429597
https://inria.hal.science/hal-03429597v2/document
https://inria.hal.science/hal-03429597v2/file/document.pdf
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  Data: Modelling and Proving Safety in Autonomous Cars Scenarios in HOL-CSP
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  Data: <searchLink fieldCode="AR" term="%22Crisafulli%2C+Paolo%22">Crisafulli, Paolo</searchLink><br /><searchLink fieldCode="AR" term="%22Taha%2C+Safouan%22">Taha, Safouan</searchLink><br /><searchLink fieldCode="AR" term="%22Wolff%2C+Burkhart%22">Wolff, Burkhart</searchLink>
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  Data: IRT SystemX<br />Laboratoire Méthodes Formelles (LMF)<br />Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay)<br />University Paris-Saclay<br />IRT SystemX, Palaiseau
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  Data: <i>https://inria.hal.science/hal-03429597 ; [Research Report] 1, University Paris-Saclay; IRT SystemX, Palaiseau. 2021, pp.81</i>.
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  Data: We present an approach to model scenarios of autonomous cars in HOL-CSP [10] and prove particular safety properties via interactive proofs in the Isabelle/HOL system (https: //en.wikipedia.org/wiki/Isabelle_(proof_assistant)).The basis of this work is an ontology for Autonomous Car Scenarios given in MOSAR (https://www.mosar.io) that describes a collection of actors (e.g. cars, trucks, bicycles), equipments (e.g. signals, vehicle lights, etc.), infrastructures (e.g. expressways, intersec- tions, etc.) and their dynamic interactions throughout driving scenarios.We represent the behaviour of actors and (rudimentarily) equipments as processes, i.e. infinite sets of traces denoting classes of scenarios. In particular, actors were represented as HOL-CSP processes. Due to the non-determinism and event-polymorphism of HOL-CSP, actor descriptions can be partially defined wrt. to data and arbitrarily ”chaotic” in their behaviour. A translation scheme of MOSAR-ontologies into actor processes in HOL-CSP is sketched.For a particular scenario described in [9] (two cars in a linear line, no backwards driving) we specialize our framework and demonstrate a machine-checked safety proof: If all the actors apply a particular driving strategy taking into account position, speed and acceleration as well as distance to the car in front, there will be no situation with a collision. This strategy — called Responsibility-Sensitive Safety — is formulated as a function and the resulting invariant formally proven in Isabelle/HOL, while overcoming a number of short-comings in both the original modeling and the original paper-and-pencil proof.
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      – Text: English
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      – SubjectFull: Isabelle-HOL
        Type: general
      – SubjectFull: Formal Proofs
        Type: general
      – SubjectFull: Autonomous Critical Systems
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      – SubjectFull: Concurrent Processes
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      – SubjectFull: Driving assistance
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      – SubjectFull: [SCCO.COMP]Cognitive science/Computer science
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      – SubjectFull: [SPI]Engineering Sciences [physics]
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