A Multi-Agent Spatial Logic for Scenario-Based Decision Modeling and Verification in Platoon Systems  

作　　者：Jingwen Xu Yanhong Huang Jianqi Shi Shengchao Qin 

机构地区：[1]National Trusted Embedded Software Engineering Technology Research Center,East China Normal University Shanghai 200062,China [2]College of Computer Science and Software Engineering,Shenzhen University,Shenzhen 518061,China

出　　处：《Journal of Computer Science & Technology》2021年第6期1231-1247,共17页计算机科学技术学报（英文版）

基　　金：supported by the National Key Research and Development Program of China under Grant No.2019YFB2102602。

摘　　要：To cater for the scenario of coordinated transportation of multiple trucks on the highway,a platoon system for autonomous driving has been extensively explored in the industry.Before such a platoon is deployed,it is necessary to ensure the safety of its driving behavior,whereby each vehicle’s behavior is commanded by the decision-making function whose decision is based on the observed driving scenario.However,there is currently a lack of verification methods to ensure the reliability of the scenario-based decision-making process in the platoon system.In this paper,we focus on the platoon driving scenario,whereby the platoon is composed of intelligent heavy trucks driving on cross-sea highways.We propose a formal modeling and verification approach to provide safety assurance for platoon vehicles’cooperative driving behaviors.The existing Multi-Lane Spatial Logic(MLSL)with a dedicated abstract model can express driving scene spatial properties and prove the safety of multi-lane traffic maneuvers under the single-vehicle perspective.To cater for the platoon system’s multi-vehicle perspective,we modify the existing abstract model and propose a Multi-Agent Spatial Logic(MASL)that extends MLSL by relative orientation and multi-agent observation.We then utilize a timed automata type supporting MASL formulas to model vehicles’decision controllers for platoon driving.Taking the behavior of a human-driven vehicle(HDV)joining the platoon as a case study,we have implemented the model and verified safety properties on the UPPAAL tool to illustrate the viability of our framework.

关 键 词：autonomous driving decision-making model platoon system safety verification timed automaton 

分 类 号：U49[交通运输工程—交通运输规划与管理]