{"id":"https://openalex.org/W3045995191","doi":"https://doi.org/10.23919/acc45564.2020.9147679","title":"Formal Verification of Swerving Maneuvers for Car Collision Avoidance","display_name":"Formal Verification of Swerving Maneuvers for Car Collision Avoidance","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3045995191","doi":"https://doi.org/10.23919/acc45564.2020.9147679","mag":"3045995191"},"language":"en","primary_location":{"id":"doi:10.23919/acc45564.2020.9147679","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","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/A5014755502","display_name":"Aakash Abhishek","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aakash Abhishek","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064427912","display_name":"Harry Sood","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harry Sood","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002069299","display_name":"Jean-Baptiste Jeannin","orcid":"https://orcid.org/0000-0001-6378-1447"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Baptiste Jeannin","raw_affiliation_strings":["Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1958,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.49541618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4729","last_page":"4736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9991999864578247,"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":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.9080466628074646},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6559752225875854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6253864765167236},{"id":"https://openalex.org/keywords/collision-avoidance-system","display_name":"Collision avoidance system","score":0.5902305841445923},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5410924553871155},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.46863484382629395},{"id":"https://openalex.org/keywords/formal-verification","display_name":"Formal verification","score":0.4365023970603943},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.43424808979034424},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43042463064193726},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3956553637981415},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.364291787147522},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21840128302574158},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.203782856464386},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18117773532867432},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16388589143753052},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1421995460987091},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.12065890431404114},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11286652088165283},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1117977499961853},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07391893863677979}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.9080466628074646},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6559752225875854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6253864765167236},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.5902305841445923},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5410924553871155},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.46863484382629395},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.4365023970603943},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.43424808979034424},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43042463064193726},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3956553637981415},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.364291787147522},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21840128302574158},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.203782856464386},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18117773532867432},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16388589143753052},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1421995460987091},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.12065890431404114},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11286652088165283},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1117977499961853},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07391893863677979},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc45564.2020.9147679","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1590463358","https://openalex.org/W1633338931","https://openalex.org/W1977444293","https://openalex.org/W2016624552","https://openalex.org/W2051626883","https://openalex.org/W2058640000","https://openalex.org/W2080884201","https://openalex.org/W2127617835","https://openalex.org/W2130519480","https://openalex.org/W2131395649","https://openalex.org/W2170741341","https://openalex.org/W2313274380","https://openalex.org/W2346648140","https://openalex.org/W2529440634","https://openalex.org/W2751211120","https://openalex.org/W2885880873","https://openalex.org/W3023574125","https://openalex.org/W3098812810","https://openalex.org/W3147784097","https://openalex.org/W3168224710","https://openalex.org/W3189981105","https://openalex.org/W4299825255"],"related_works":["https://openalex.org/W2390040493","https://openalex.org/W4253267946","https://openalex.org/W2945385675","https://openalex.org/W2885713887","https://openalex.org/W2983014903","https://openalex.org/W1767544057","https://openalex.org/W2153778739","https://openalex.org/W196290454","https://openalex.org/W2377539543","https://openalex.org/W2726560916"],"abstract_inverted_index":{"Many":[0],"road":[1],"vehicle":[2,83,129,148],"accidents":[3],"are":[4],"the":[5,53,82,99,105,110,141,147,163,172],"result":[6],"of":[7,17,55,98,104,120,197],"collisions":[8],"with":[9,63],"foreign":[10],"objects,":[11],"and":[12,23,47,85,101,131,170,188],"automatic":[13],"collision":[14,31,58,69,111,121,142,150,198],"avoidance":[15,32,59,70,112,122,143,199],"is":[16,74],"critical":[18],"interest":[19],"to":[20,76,93,193],"car":[21],"manufacturers":[22],"their":[24],"customers.":[25],"Previous":[26],"work":[27,182],"on":[28,128],"formally":[29,48,108],"verifying":[30],"maneuvers":[33],"typically":[34],"assumes":[35],"point-shaped":[36],"or":[37],"circular-shaped":[38],"vehicles":[39],"for":[40,52,61,178],"simplicity.":[41],"In":[42],"this":[43],"paper,":[44],"we":[45],"formulate":[46],"verify":[49,109,194],"sufficient":[50,126],"conditions":[51,127,159],"safety":[54],"a":[56,64,89,137,184],"representative":[57],"system":[60,71,100,113,144,164],"cars":[62],"realistic":[65],"geometrical":[66],"shape.":[67],"The":[68],"discussed":[72],"here":[73],"designed":[75],"issue":[77],"swerving":[78],"advisories.":[79],"We":[80,107],"model":[81,94,162],"kinematics":[84,130],"control":[86],"advisory":[87],"as":[88,155,157],"hybrid":[90],"program,":[91],"allowing":[92],"both":[95],"discrete":[96],"decisions":[97],"continuous":[102],"dynamics":[103],"car.":[106],"by":[114],"providing":[115],"rigorous,":[116],"computer-checked":[117],"mathematical":[118,138],"proofs":[119],"under":[123,151],"well-defined,":[124],"explicit":[125],"parameters.":[132],"This":[133,181],"formal":[134,179],"verification":[135],"provides":[136],"guarantee":[139],"that":[140],"can":[145,189],"prevent":[146],"from":[149],"all":[152],"possible":[153],"scenarios":[154],"long":[156],"certain":[158],"hold":[160],"true.We":[161],"using":[165],"differential":[166],"dynamic":[167],"logic":[168],"dL":[169],"use":[171],"automated":[173],"theorem":[174],"prover":[175],"KeYmaera":[176],"X":[177],"verification.":[180],"employs":[183],"purely":[185],"symbolic":[186],"model,":[187],"thus":[190],"be":[191],"extended":[192],"other":[195],"types":[196],"systems":[200],"exhibiting":[201],"richer":[202],"behavior.":[203]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}