Publication Type
Conference Proceeding Article
Version
acceptedVersion
Publication Date
4-2024
Abstract
Autonomous driving systems (ADSs) integrate sensing, perception, drive control, and several other critical tasks in autonomous vehicles, motivating research into techniques for assessing their safety. While there are several approaches for testing and analysing them in high-fidelity simulators, ADSs may still encounter additional critical scenarios beyond those covered once they are deployed on real roads. An additional level of confidence can be established by monitoring and enforcing critical properties when the ADS is running. Existing work, however, is only able to monitor simple safety properties (e.g., avoidance of collisions) and is limited to blunt enforcement mechanisms such as hitting the emergency brakes. In this work, we propose REDriver, a general and modular approach to runtime enforcement, in which users can specify a broad range of properties (e.g., national traffic laws) in a specification language based on signal temporal logic (STL). REDriver monitors the planned trajectory of the ADS based on a quantitative semantics of STL, and uses a gradient-driven algorithm to repair the trajectory when a violation of the specification is likely. We implemented REDriver for two versions of Apollo (i.e., a popular ADS), and subjected it to a benchmark of violations of Chinese traffic laws. The results show that REDriver significantly improves Apollo's conformance to the specification with minimal overhead.
Discipline
Software Engineering
Research Areas
Software and Cyber-Physical Systems
Publication
ICSE '24: Proceedings of the 46th International Conference on Software Engineering, Lisbon, Portugal, 2024 April 14-20
First Page
1
Last Page
12
ISBN
9798400702174
Identifier
10.1145/3597503.3639151
Publisher
ACM
City or Country
New York
Citation
SUN, Yang; POSKITT, Christopher M.; ZHANG, Xiaodong; and SUN, Jun.
REDriver: Runtime enforcement for autonomous vehicles. (2024). ICSE '24: Proceedings of the 46th International Conference on Software Engineering, Lisbon, Portugal, 2024 April 14-20. 1-12.
Available at: https://ink.library.smu.edu.sg/sis_research/8721
Copyright Owner and License
Authors
Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-No Derivative Works 4.0 International License.
Additional URL
https://doi.org/10.1145/3597503.3639151