Connected Vehicle Perception Monitoring: A Runtime Verification Approach for Enhanced Autonomous Driving Safety

Redge Castelino, Karina Rothemann, Arne Lamm, Axel Hahn

2024

Abstract

Modern autonomous vehicles rely heavily on complex sensor systems for perception tasks, including Advanced Driver Assistance Systems and Autonomous Driving Systems. Accurate sensor perception is essential to ensure the safety of these systems, especially as the level of automation increases. External sensors from the infrastructure or other vehicles can provide useful information to verify the trustworthiness of on-vehicle sensors using V2X communication. This paper presents a novel concept of runtime monitoring to verify the performance of ADS perception systems, taking advantage of the design diversity of connected vehicles and infrastructure based perception sensors in Intelligent Transportation Systems. The proposed approach uses standardised V2X services, such as Collective Perception Service and Location Service from connected participants to estimate a reliable common environment model (CEM) of the driving situation. The established CEM can be used to evaluate the quality of perception of individual road participants during operation, allowing detection and mitigation of system malfunctions of a connected vehicle perception system and enhancing road safety in connected environments. We also discuss open design questions with respect to the perception runtime monitor concept.

Paper Citation

in Harvard Style

Castelino R., Rothemann K., Lamm A. and Hahn A. (2024). Connected Vehicle Perception Monitoring: A Runtime Verification Approach for Enhanced Autonomous Driving Safety. In Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-703-0, SciTePress, pages 402-409. DOI: 10.5220/0012696400003702

in Bibtex Style

@conference{vehits24,
author={Redge Castelino and Karina Rothemann and Arne Lamm and Axel Hahn},
title={Connected Vehicle Perception Monitoring: A Runtime Verification Approach for Enhanced Autonomous Driving Safety},
booktitle={Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2024},
pages={402-409},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012696400003702},
isbn={978-989-758-703-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Connected Vehicle Perception Monitoring: A Runtime Verification Approach for Enhanced Autonomous Driving Safety
SN - 978-989-758-703-0
AU - Castelino R.
AU - Rothemann K.
AU - Lamm A.
AU - Hahn A.
PY - 2024
SP - 402
EP - 409
DO - 10.5220/0012696400003702
PB - SciTePress