Published October 15, 2023 | Version v1
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Supplementary Material for TACAS Submission "Towards Safe Autonomous Driving: Model Checking a Behavior Planner during Development"

Description

This archive contains supplementary material for the TACAS 2024 submission "Towards Safe Autonomous Driving: Model Checking a Behavior Planner during Development".

Content

  1. `planner.cpp`: The mock behavior planner described in the paper, used to control an automated car on the highway. (For demonstration purposes only! It is deliberately designed to violate major safety requirements.) The file can be compiled and run on its own, and it can be model-checked in the context of an environment model, as explained in the paper.
  2. Two versions of the environment model which provide the surrounding traffic simulation for model-checking of the mock planner (or other custom behavior planners).
    • `EnvModel_3NONEGOS.smv`: With 3 non-ego cars, as used to illustrate the "Double Merge" issue in the paper.
    • `EnvModel_7NONEGOS.smv`: With 7 non-ego cars, as used to illustrate the "Gap Occlusion" issue in the paper.
  3. `Towards_Safe_Autonomous_Driving_Appendix.pdf`: The appendix of the paper which is not published as part of the conference proceedings, containing an in-depth description of how the transition system to model-check is created.
  4. `LICENSE.txt`: The license under which the files are provided.

Files

LICENSE.txt

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Additional details

Dates

Submitted
2023-10-15