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Automated Monitoring of Traffic Sequence Chart Specifications for Simulated Driving Scenarios

Hakemann, Jan (2022) Automated Monitoring of Traffic Sequence Chart Specifications for Simulated Driving Scenarios. Master's, Carl von Ossietzky Universität Oldenburg.

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This thesis addresses the verification of the reliability of autonomous driving cars. More specifically, automated verification is examined for satisfaction of simulated driving scenarios. For this purpose, a specific functional scenario (stopping of a car within a certain distance in front of an obstacle) is formalized into a Traffic Sequence Chart. In addition, concrete scenarios with expected satisfaction values for the functional scenario are developed based on the functional scenario using requirements engineering techniques. The Traffic Sequence Chart is validated by running several simulations with these concrete scenarios in the CARLA simulation, and evaluating the Traffic Sequence Chart with the simulated sensor data for satisfaction. A Traffic Sequence Chart runtime monitor is developed, and it's correctness partially shown, that processes the sensor data from the CARLA simulation and checks automatically whether the sensor data satisfies the Traffic Sequence Chart. The input sensor data for the monitor is received via ROS from the CARLA simulation using the ROS bridge, and the execution of the monitor takes place in a ROS node. Due to optional noisy sensor data from the simulation and the sampling rate of the simulation, the monitor has adjustable tolerances. The evaluation of the Traffic Sequence monitor has shown that simulated concrete scenarios can be classified according to the expected satisfaction value. The time between the verdict of the monitor and the theoretical minimum time with the sensor data is less than 0.4 seconds. The limit of the monitor was examined by designing a concrete scenario with consideration of the tolerances, which is incorrectly classified as satisfied by the monitor.

Item URL in elib:https://elib.dlr.de/193561/
Document Type:Thesis (Master's)
Title:Automated Monitoring of Traffic Sequence Chart Specifications for Simulated Driving Scenarios
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:6 December 2022
Refereed publication:Yes
Open Access:No
Number of Pages:119
Keywords:TSC Traffic Sequence Chart Monitoring Monitor Scenario ROS ROS2 Simulated Driving Scenario Scenarios
Institution:Carl von Ossietzky Universität Oldenburg
Department:Foundations and Applications of Systems of Cyber-Physical Systems
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - V&V4NGC - Methoden, Prozesse und Werkzeugketten für die Validierung & Verifikation von NGC
Location: Oldenburg
Institutes and Institutions:Institute of Systems Engineering for Future Mobility > System Evolution and Operation
Deposited By: Stemmer, Ralf
Deposited On:08 Feb 2023 12:02
Last Modified:08 Feb 2023 12:02

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