Abstract
In this paper, we present a general methodology to estimate safety related parameter values of cooperative cyber-physical system-of-systems. As a case study, we consider a vehicle platoon model equipped with a novel distributed protocol for coordinated emergency braking. The estimation methodology is based on learning-based testing; which is an approach to automated requirements testing that combines machine learning with model checking.
Our methodology takes into account vehicle dynamics, control algorithm design, inter-vehicle communication protocols and environmental factors such as message packet loss rates. Empirical measurements from road testing of vehicle-to-vehicle communication in a platoon are modeled and used in our case study. We demonstrate that the minimum global time headway for our platoon model equipped with the CEBP function scales well with respect to platoon size.
Keywords
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- 1.
See www.safecop.eu.
- 2.
The measurements were done while the first author was employed at RISE − The Swedish Research Institute (previously SP − Technical Research Institute of Sweden).
- 3.
Recall that propositional LTL extends basic propositional logic with the temporal modalities G(\(\phi \)) (always \(\phi \)), F(\(\phi \)) (sometime \(\phi \)) and X(\(\phi \)) (next \(\phi \)). Other derived operators and past operators may also be included. See e.g. [12] for details.
- 4.
Infinite counter-examples to LTL liveness formulas are truncated around the loop, and the weaker test verdict warning may be issued.
- 5.
Assuming \(V_{i+1}\) maintains its speed at time t.
- 6.
Clearly \(HW_{min}\) is a function of the many individual parameters of each vehicle \(V_i\) such as its weight, braking power etc. Different values of \(HW_{min}\) will thus be obtained if individual vehicle parameters are changed. For simplicity, we have assumed a homogeneous platoon, i.e. all vehicle parameters are the same. .
- 7.
It is also possible to use SUT observations between the output cycles by thresholding. This can yield greater accuracy, but this approach was not taken here.
- 8.
These terminating neutral commands 0 were redundant by the design of CEBP, but extended the test case until the platoon was stopped.
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Acknowledgement
The research leading to these results has been performed in the SafeCOP project, that received funding from the ECSEL Joint Undertaking under grant agreement 692529, and from Vinnova Swedish national funding. The work was partially performed in the Next Generation Electrical Architecture (NGEA) step2 project, funded by the Vinnova FFI-programme. We express special thanks for valuable comments to Magnus Jonsson and Alexey Vinel of Halmstad University.
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Bergenhem, C., Meinke, K., Ström, F. (2018). Quantitative Safety Analysis of a Coordinated Emergency Brake Protocol for Vehicle Platoons. In: Margaria, T., Steffen, B. (eds) Leveraging Applications of Formal Methods, Verification and Validation. Distributed Systems. ISoLA 2018. Lecture Notes in Computer Science(), vol 11246. Springer, Cham. https://doi.org/10.1007/978-3-030-03424-5_26
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