山东理工大学学报：自然科学版2011，Vol.25Issue(6)：6-12,7.
自主车辆行为决策的安全验证方法
Security validation approach for autonomous vehicle behavior decision
摘要
Abstract
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.关键词
自主车辆/混合系统/随机可达集/马尔科夫链/在线安全验证Key words
autonomous vehicles/hybrid systems/stochastic reachable set/Markov chain/online security validation分类
交通工程引用本文复制引用
刘秉政,曹凯,马建军..自主车辆行为决策的安全验证方法[J].山东理工大学学报：自然科学版,2011,25(6):6-12,7.基金项目
国家自然科学基金资助项目 （）
山东省自然科学基金资助项目 （）
