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14 results on '"Klischat, Moritz"'

1. Generating Safety-Critical Test Scenarios for Motion Planning Algorithms of Autonomous Vehicles

Author

Althoff, Matthias (Prof. Dr.), Althoff, Matthias (Prof. Dr.);Lienkamp, Markus (Prof. Dr.), Klischat, Moritz Sebastian, Althoff, Matthias (Prof. Dr.), Althoff, Matthias (Prof. Dr.);Lienkamp, Markus (Prof. Dr.), and Klischat, Moritz Sebastian

Abstract

This thesis presents methods for generating safety-critical traffic scenarios to test motion planning algorithms of autonomous vehicles. We introduce an algorithm to optimize traffic scenarios with respect to a criticality metric that quantifies the solution space of a scenario. Furthermore, we present an approach for falsifying motion planners in abstractly defined scenarios, which combines search methods and new methods for synthesizing motions of other traffic participants., In dieser Arbeit werden Methoden zur Erzeugung sicherheitskritischer Verkehrsszenarien vorgestellt, um Bewegungsplanungsalgorithmen für autonome Fahrzeuge zu testen. Wir stellen einen Algorithmus zur Optimierung von Verkehrsszenarien hinsichtlich einer Kritikalitätsmetrik vor, welche den Lösungsraum eines Szenarios quantifiziert. Darüber hinaus wird ein Ansatz zur Falsifikation von Bewegungsplanern in abstrakt definierten Szenarien vorgestellt, welcher Suchverfahren und neue Methoden zur Ableitung konkreter Szenarien kombiniert.

Published
2024

6. Falsifying Motion Plans of Autonomous Vehicles With Abstractly Specified Traffic Scenarios

Author

Klischat, Moritz and Althoff, Matthias

Abstract

Verifying the safety of autonomous vehicles is one of the major challenges towards their deployment on public roads due to the vast number of possible situations that can occur in traffic. Scenario-based testing has been proposed to reduce the number of required tests using catalogs of abstractly defined scenarios. However, when specifying test scenarios abstractly, there is still an infinite number of possible concrete scenarios that can be derived from a specification. Available computational resources can thus be easily exceeded when using inefficient strategies for deriving concrete scenarios. In this work, we propose a novel method that synthesizes concrete scenarios complying with abstract scenario specifications. We compute the set of compliant trajectories for surrounding traffic participants and only sample trajectories within those sets. Our synthesis integrates a falsification algorithm that searches for specified failures of the vehicle under test. Compared to existing work, we can efficiently find scenario concretizations, especially for complex maneuver specifications. By directly considering failure specifications during the scenario synthesis, we avoid executing irrelevant simulations that cannot possibly result in failures. Our approach is demonstrated in several scenarios using Monte Carlo tree search as a search algorithm.

Published
2023
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7. AROC

Author

Kochdumper, Niklas, primary, Gruber, Felix, additional, Schürmann, Bastian, additional, Gaßmann, Victor, additional, Klischat, Moritz, additional, and Althoff, Matthias, additional

Published
2021
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11. SUMO User Conference 2019

Author

Akyol, Görkem, Alekszejenkó, Levente, Alms, Robert, Althoff, Matthias, Anvari, Bani, Arnold, Lukas, Aswakul, Chaodit, Banijamali, Ahmad, Barthauer, Mirko, Behrisch, Michael, Bieker-Walz, Laura, Bonne, Jean-Benoît, Braun, Anna, Bruining, Rinze, Busch, Fritz, Chraibi, Mohcine, Chucholowski, Frederic, Codeca, Lara, Dobrowiecki, Tadeusz P., Dragoi, Octav, Driesch, Patrick, Eissa, Mostafa, Erdağı, İsmet Gökşad, Erdmann, Jakob, Flötteröd, Yun-Pang, Grigoropoulos, Georgios, Grohmann, Lukas, Hafner, Alexander, Heisig, Philipp, Hendriks, Martin, Horsuwan, Thanapapas, Härri, Jérôme, Höttger, Robert, Jeroschewski, Sven Erik, Kaths, Heather, Kaths, Jakob, Keler, Andreas, Klischat, Moritz, Koutras, Dimitrios, Kristan, Johannes, Krol, Jakub, Lenz, Gernot, Lot, Robert, Lücken, Leonhard, Mintsis, Evangelos, Mon, Ei Ei, Nitsche, Philippe, Ochiai, Hideya, Porfyri, Kallirroi N., Prikryl, Jan, Richter, Gerald, Sachweh, Sabine, Saivichit, Chaiyachet, Schott, Benedikt, Schramm, Dieter, Sevcik, Jakub, Silgu, Mehmet Ali, Trumpold, Jan, Vullings, Erik, Wagner, Peter, Weber, Thomas, Wesemeyer, Daniel, and Çelikoğlu, Hilmi Berk

Subjects
traffic simulation, simulation coupling, SUMO Vehicle Device, smart mobility, gridlock, Bicyclists, Velocity profile prediction, Automation, behaviour modelling, traffic modelling, intelligent traffic control systems, traffic flow simulation, Transition of control, capacity of train stations, state estimation, Parking optimization, Cooperative Adaptive Cruise Control, driver model, Mobility, software architecture, large-scale emergency evacuation, Coupled simulators, Large-scale Mobility Scenario, driving performance, motion planning, takeover, Interoperability, simulation, Reinforcement Learning, traffic light control, crossing scheduling, Adaptive Cruise Control, vehicle simulation, Emissions, autonomous vehicles, Car-following model, IoT, Bicycle Traffic Simulation, gridlock detection, Smart Cars, Road Surface Conditions, urban road network, Automated connected vehicles, self-organizing traffic, partial observability, Overhead wires, traffic and crowd Simulation, pedestrian simulation, Pedestrian traffic, traffic signal co-ordination, Traffic Management, Connected Vehicles, platooning, traffic congestion, traffic signal optimization, crisis management, Bicycle Infrastructure Modelling, Simulation of Urban Mobility, Infrastructure, Circuit Network Solver, Vehicular Communication, driving simulator, Electrification of Public Transport, Adaptive Traffic Control, Vehicles, multiagent simulation platform, Bicycle simulator, SUMO, automated vehicles, Car2X, Hybrid Trolleybus
Published
2019

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