Abstract
Car safety measures can be most effective when the cars on a street coordinate their control actions using distributed cooperative control. While each car optimizes its navigation planning locally to ensure the driver reaches his destination, all cars coordinate their actions in a distributed way in order to minimize the risk of safety hazards and collisions. These systems control the physical aspects of car movement using cyber technologies like local and remote sensor data and distributed V2V and V2I communication. They are thus cyber-physical systems. In this paper, we consider a distributed car control system that is inspired by the ambitions of the California PATH project, the CICAS system, SAFESPOT and PReVENT initiatives. We develop a formal model of a distributed car control system in which every car is controlled by adaptive cruise control. One of the major technical difficulties is that faithful models of distributed car control have both distributed systems and hybrid systems dynamics. They form distributed hybrid systems, which makes them very challenging for verification. In a formal proof system, we verify that the control model satisfies its main safety objective and guarantees collision freedom for arbitrarily many cars driving on a street, even if new cars enter the lane from on-ramps or multi-lane streets. The system we present is in many ways one of the most complicated cyber-physical systems that has ever been fully verified formally.
This material is based upon work supported by National Science Foundation under NSF CAREER Award CNS-1054246 and Grant Nos. CNS-0926181, CNS-0931985, CNS-1035800, CNS-1035813, and ONR N00014-10-1-0188. The first author was supported by an NSF Graduate Research Fellowship. For proofs and interactive car system simulations, see http://www.ls.cs.cmu.edu/dccs/ online.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chang, J., Cohen, D., Blincoe, L., Subramanian, R., Lombardo, L.: CICAS-V research on comprehensive costs of intersection crashes. Technical Report 07-0016, NHTSA (2007)
Damm, W., Hungar, H., Olderog, E.R.: Verification of cooperating traffic agents. International Journal of Control 79, 395–421 (2006)
Dao, T.S., Clark, C.M., Huissoon, J.P.: Distributed platoon assignment and lane selection for traffic flow optimization. In: IEEE IV 2008, pp. 739–744 (2008)
Dao, T.S., Clark, C.M., Huissoon, J.P.: Optimized lane assignment using inter-vehicle communication. In: IEEE IV 2007, pp. 1217–1222 (2007)
Hall, R., Chin, C., Gadgil, N.: The automated highway system / street interface: Final report. PATH Research Report UCB-ITS-PRR-2003-06, UC Berkeley (2003)
Hall, R., Chin, C.: Vehicle sorting for platoon formation: Impacts on highway entry and troughput. PATH Research Report UCB-ITS-PRR-2002-07, UC Berkeley (2002)
Hsu, A., Eskafi, F., Sachs, S., Varaiya, P.: Design of platoon maneuver protocols for IVHS. PATH Research Report UCB-ITS-PRR-91-6, UC Berkeley (1991)
Ioannou, P.A.: Automated Highway Systems. Springer, Heidelberg (1997)
Jula, H., Kosmatopoulos, E.B., Ioannou, P.A.: Collision avoidance analysis for lane changing and merging. PATH Research Report UCB-ITS-PRR-99-13, UC Berkeley (1999)
Horowitz, R., Tan, C.W., Sun, X.: An efficient lane change maneuver for platoons of vehicles in an automated highway system. PATH Research Report UCB-ITS-PRR-2004-16, UC Berkeley (2004)
Shladover, S.E.: Effects of traffic density on communication requirements for Cooperative Intersection Collision Avoidance Systems (CICAS). PATH Working Paper UCB-ITS-PWP-2005-1, UC Berkeley (2004)
Stursberg, O., Fehnker, A., Han, Z., Krogh, B.H.: Verification of a cruise control system using counterexample-guided search. Control Engineering Practice 38, 1269–1278 (2004)
Varaiya, P.: Smart cars on smart roads: problems of control. IEEE Trans. Automat. Control 38, 195–207 (1993)
Wongpiromsarn, T., Mitra, S., Murray, R.M., Lamperski, A.: Periodically controlled hybrid systems: Verifying a controller for an autonomous vehicle. In: Majumdar, R., Tabuada, P. (eds.) HSCC 2009. LNCS, vol. 5469, pp. 396–410. Springer, Heidelberg (2009)
Chee, W., Tomizuka, M.: Vehicle lane change maneuver in automated highway systems. PATH Research Report UCB-ITS-PRR-94-22, UC Berkeley (1994)
Johansson, R., Rantzer, A. (eds.): Nonlinear and Hybrid Systems in Automotive Control. Society of Automotive Engineers Inc. (2003)
Althoff, M., Althoff, D., Wollherr, D., Buss, M.: Safety verification of autonomous vehicles for coordinated evasive maneuvers. In: IEEE IV 2010, pp. 1078–1083 (2010)
Berardi, L., Santis, E., Benedetto, M., Pola, G.: Approximations of maximal controlled safe sets for hybrid systems. In: Johansson, R., Rantzer, A. (eds.) Nonlinear and Hybrid Systems in Automotive Control, pp. 335–350. Springer, Heidelberg (2003)
Platzer, A.: Quantified Differential Dynamic Logic for Distributed Hybrid Systems. In: Dawar, A., Veith, H. (eds.) CSL 2010. LNCS, vol. 6247, pp. 469–483. Springer, Heidelberg (2010)
Lygeros, J., Lynch, N.: Strings of vehicles: Modeling safety conditions. In: Henzinger, T.A., Sastry, S.S. (eds.) HSCC 1998. LNCS, vol. 1386, pp. 273–288. Springer, Heidelberg (1998)
Dolginova, E., Lynch, N.: Safety verification for automated platoon maneuvers: A case study. In: Maler, O. (ed.) HART, pp. 154–170. Springer, Heidelberg (1997)
Electronic Proof and Demo, http://www.ls.cs.cmu.edu/dccs/
Loos, S.M., Platzer, A., Nistor, L.: Adaptive cruise control: Hybrid, distributed, and now formally verified. Technical Report CMU-CS-11-107, Carnegie Mellon University (2011)
Germann, S.: Modellbildung und Modellgestützte Regelung der Fahrzeuglängsdynamik. Fortschrittsberichte VDI, Reihe 12, Nr. 309, VDI Verlag (1997)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Loos, S.M., Platzer, A., Nistor, L. (2011). Adaptive Cruise Control: Hybrid, Distributed, and Now Formally Verified. In: Butler, M., Schulte, W. (eds) FM 2011: Formal Methods. FM 2011. Lecture Notes in Computer Science, vol 6664. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21437-0_6
Download citation
DOI: https://doi.org/10.1007/978-3-642-21437-0_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21436-3
Online ISBN: 978-3-642-21437-0
eBook Packages: Computer ScienceComputer Science (R0)