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Safety certification of Autonomous Vehicles (AVs) requires guarantees on AVs' safety at design time. To this effect, this paper proposes modeling abstractions that allow architectural representation of AVs and their surroundings, i.e. representation of different components, and enable safety analysis from such representation without requiring any expertise on formal methods. Toward this direction, AVs are considered as Cyber-Physical Systems with Mobile computing nodes (MCPS), where each node (i.e. an AV) can have intentional (as determined by AVs' controller) and unintentional (e.g., in case of skids) motion characteristics depending on the physical environment (e.g. road condition).
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