{"id":"https://openalex.org/W3202842535","doi":"https://doi.org/10.1109/icra46639.2022.9812177","title":"Runtime Safety Assurance for Learning-enabled Control of Autonomous Driving Vehicles","display_name":"Runtime Safety Assurance for Learning-enabled Control of Autonomous Driving Vehicles","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3202842535","doi":"https://doi.org/10.1109/icra46639.2022.9812177","mag":"3202842535"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812177","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058043624","display_name":"Shengduo Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengduo Chen","raw_affiliation_strings":["Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100713888","display_name":"Yaowei Sun","orcid":"https://orcid.org/0000-0003-3833-7744"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaowei Sun","raw_affiliation_strings":["Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086491465","display_name":"Dachuan Li","orcid":"https://orcid.org/0000-0002-7267-9951"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dachuan Li","raw_affiliation_strings":["Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,China,518055","Research Institute for Trustworthy Autonomous Systems, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Research Institute for Trustworthy Autonomous Systems, Shenzhen, China","institution_ids":["https://openalex.org/I4210139618"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018867983","display_name":"Qiang Wang","orcid":"https://orcid.org/0000-0002-2986-967X"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Wang","raw_affiliation_strings":["Artificial Intelligence Research Center, Defense Innovation Institute, Chinese Academy of Military Science,Beijing,China,100072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Center, Defense Innovation Institute, Chinese Academy of Military Science,Beijing,China,100072","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037660521","display_name":"Qi Hao","orcid":"https://orcid.org/0000-0002-2792-5965"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Hao","raw_affiliation_strings":["Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,China,518055","Research Institute for Trustworthy Autonomous Systems, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Research Institute for Trustworthy Autonomous Systems, Shenzhen, China","institution_ids":["https://openalex.org/I4210139618"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075454664","display_name":"Joseph Sifakis","orcid":"https://orcid.org/0000-0003-2447-7981"},"institutions":[{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Joseph Sifakis","raw_affiliation_strings":["Research Institute for Trustworthy Autonomous Systems,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Trustworthy Autonomous Systems,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210139618"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8978","last_page":"8984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7702784538269043},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7548558712005615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7086528539657593},{"id":"https://openalex.org/keywords/safety-assurance","display_name":"Safety assurance","score":0.5895689129829407},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5830167531967163},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5367644429206848},{"id":"https://openalex.org/keywords/active-safety","display_name":"Active safety","score":0.44294309616088867},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43003422021865845},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36671268939971924},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35150930285453796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25172531604766846},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2123248279094696},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.207157701253891},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18817508220672607}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7702784538269043},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7548558712005615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7086528539657593},{"id":"https://openalex.org/C112805685","wikidata":"https://www.wikidata.org/wiki/Q10566551","display_name":"Safety assurance","level":2,"score":0.5895689129829407},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5830167531967163},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5367644429206848},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.44294309616088867},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43003422021865845},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36671268939971924},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35150930285453796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25172531604766846},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2123248279094696},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.207157701253891},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18817508220672607},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812177","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G345495281","display_name":null,"funder_award_id":"JCYJ20200109141622964","funder_id":"https://openalex.org/F4320329791","funder_display_name":"Shenzhen Fundamental Research Program"}],"funders":[{"id":"https://openalex.org/F4320329791","display_name":"Shenzhen Fundamental Research Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W2057847320","https://openalex.org/W2082365750","https://openalex.org/W2156093990","https://openalex.org/W2158400962","https://openalex.org/W2176215692","https://openalex.org/W2290354866","https://openalex.org/W2569577253","https://openalex.org/W2624605551","https://openalex.org/W2739529772","https://openalex.org/W2869375357","https://openalex.org/W2890375627","https://openalex.org/W2950471160","https://openalex.org/W2963322416","https://openalex.org/W2963403868","https://openalex.org/W2964043796","https://openalex.org/W2968202530","https://openalex.org/W2969749685","https://openalex.org/W2991052353","https://openalex.org/W3002044607","https://openalex.org/W3004129452","https://openalex.org/W3034445502","https://openalex.org/W3081016801","https://openalex.org/W3098070195","https://openalex.org/W3100247915","https://openalex.org/W3132195737","https://openalex.org/W3173202136","https://openalex.org/W4385245566","https://openalex.org/W6692846177","https://openalex.org/W6696324988","https://openalex.org/W6739901393","https://openalex.org/W6766639543","https://openalex.org/W6948184010"],"related_works":["https://openalex.org/W1667647204","https://openalex.org/W2404647514","https://openalex.org/W4247536566","https://openalex.org/W2794103424","https://openalex.org/W2018477250","https://openalex.org/W3119814709","https://openalex.org/W4241418540","https://openalex.org/W1508895727","https://openalex.org/W2898677599","https://openalex.org/W187145610"],"abstract_inverted_index":{"Providing":[0],"safety":[1,28,67,123],"guarantees":[2],"for":[3,30],"Autonomous":[4],"Vehicle":[5],"(AV)":[6],"systems":[7],"with":[8,65],"machine-learning":[9,31],"based":[10,60,89],"controllers":[11,33],"remains":[12],"a":[13,22,57,70,95,103],"challenging":[14],"issue.":[15],"In":[16],"this":[17],"work,":[18],"we":[19],"propose":[20],"Simplex-Drive,":[21],"framework":[23],"that":[24,50,75,116],"can":[25,118],"achieve":[26],"runtime":[27],"assurance":[29],"enabled":[32],"of":[34,40,99],"AVs.":[35],"The":[36,111],"proposed":[37],"Simplex-Drive":[38,100,117],"consists":[39],"an":[41],"unverified":[42],"Deep":[43],"Reinforcement":[44],"Learning":[45],"(DRL)-based":[46],"advanced":[47],"controller":[48,63],"(AC)":[49],"achieves":[51],"desirable":[52],"performance":[53],"in":[54,107],"complex":[55],"scenarios,":[56],"Velocity-Obstacle":[58],"(VO)":[59],"baseline":[61],"safe":[62,139],"(BC)":[64],"provably":[66],"guarantees,":[68],"and":[69,80,87,101],"verified":[71],"mode":[72],"management":[73],"unit":[74],"monitors":[76],"the":[77,82,121,130,138],"operation":[78,122],"status":[79],"switches":[81],"control":[83,126],"authority":[84],"between":[85],"AC":[86],"BC":[88],"on":[90],"safety-related":[91],"conditions.":[92],"We":[93],"provide":[94],"formal":[96],"correctness":[97],"proof":[98],"conduct":[102],"lane-changing":[104],"case":[105],"study":[106],"dense":[108],"traffic":[109],"scenarios.":[110],"simulation":[112],"experiment":[113],"results":[114],"demonstrate":[115],"always":[119],"ensure":[120],"without":[124],"sacrificing":[125],"performance,":[127],"even":[128],"if":[129],"DRL":[131],"policy":[132],"may":[133],"lead":[134],"to":[135],"deviations":[136],"from":[137],"status.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
