Verification of Collision Avoidance for CommonRoad Traffic Scenarios

Abstract

We propose a benchmark for the verification of autonomous vehicles. By considering different traffic scenarios from the CommonRoad database, we obtain several thousands of different verification tasks, where the verification problem is to prove that the con- sidered tracking controller safely follows a given reference trajectory despite disturbances and measurement errors. The dynamic of the car is described by a nonlinear kinematic single-track model. Since the feedback matrix for the tracking controller is time-varying, the dynamic of the controlled system changes constantly. Because of this, the proposed benchmark is well-suited to evaluate how robustly reachability tools can handle changing system dynamics.