Title:
Correct-By-Construction Adaptive Cruise Control: Two Approaches
Correct-By-Construction Adaptive Cruise Control: Two Approaches
Author(s)
Nilsson, Petter
Hussien, Omar
Balkan, Ayca
Chen, Yuxiao
Ames, Aaron A. D.
Grizzle, Jessy
Ozay, Necmiye
Peng, Huei
Tabuada, Paulo
Hussien, Omar
Balkan, Ayca
Chen, Yuxiao
Ames, Aaron A. D.
Grizzle, Jessy
Ozay, Necmiye
Peng, Huei
Tabuada, Paulo
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Abstract
Motivated by the challenge of developing control
software provably meeting specifications for real world problems,
this paper applies formal methods to adaptive cruise control
(ACC). Starting from a Linear Temporal Logic specification
for ACC, obtained by interpreting relevant ACC standards, we
discuss in this paper two different control software synthesis
methods. Each method produces a controller that is correct-by-construction,
meaning that trajectories of the closed-loop systems
provably meet the specification. Both methods rely on fixed-point
computations of certain set-valued mappings. However, one of
the methods performs these computations on the continuous
state space whereas the other method operates on a finite-state
abstraction. While controller synthesis is based on a low-dimensional
model, each controller is tested on CarSim, an
industry-standard vehicle simulator. Our results demonstrate
several advantages over classical control design techniques. First,
a formal approach to control design removes potential ambiguity
in textual specifications by translating them into precise mathematical
requirements. Second, because the resulting closed-loop
system is known a priori to satisfy the specification, testing can
then focus on the validity of the models used in control design
and whether the specification captures the intended requirements.
Finally, the set from where the specification (e.g., safety) can be
enforced is explicitly computed and thus conditions for passing
control to an emergency controller are clearly defined.
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Date Issued
2016-07
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Proceedings