自動運転車のための解釈可能な安全性検証
Interpretable Safety Validation for Autonomous Vehicles
信号時相論理式で人間が理解できる故障条件を記述し、発生確率の高い故障を探索することで、自動運転車のシミュレーション安全性検証を改善した研究。
著者: Anthony Corso, Mykel J. Kochenderfer
分類: cs.RO, cs.LG, stat.ML
原文アブストラクト
An open problem for autonomous driving is how to validate the safety of an autonomous vehicle in simulation. Automated testing procedures can find failures of an autonomous system but these failures may be difficult to interpret due to their high dimensionality and may be so unlikely as to not be important. This work describes an approach for finding interpretable failures of an autonomous system. The failures are described by signal temporal logic expressions that can be understood by a human, and are optimized to produce failures that have high likelihood. Our methodology is demonstrated for the safety validation of an autonomous vehicle in the context of an unprotected left turn and a crosswalk with a pedestrian. Compared to a baseline importance sampling approach, our methodology finds more failures with higher likelihood while retaining interpretability.
