… used in providing safety guarantees for AV motion control originate from formal methods, …
The ADS is only expected to guarantee safety in its limited ODD environment. Even if the …

… motion planning approaches. Thus, in the following paragraphs, we briefly review how existing
planning approaches ensure drivability… Sattel, “Formal verification of maneuver automata …

… Snapshot from our driving experiments with a BMW 7-series … , we focus on popular formal
verification techniques within the … a verification technique that ensures the safety of planned mo…

… collision risks to ensuring safety through formal verification. Formal verification describes the
… corridor and a lateral driving corridor for fail-safe motion planning as a temporal sequence …

… Logical languages are a formal way to represent rules. A … will be inherently satisfied by a
motion planner. Thus, we will … 2) Distance: We formalize the rule to ensure a safe distance …

… In contrast to most formal verification methods, our approach … with methods for trajectory
planning in autonomous driving. It … ensure desired and safe motions, the states along a planned …

… of an ICS) concept which gives guarantee about no collision. The collision between an object
… Only motion planning is not enough for autonomous safe driving. The interaction of two …

… motion planning. Additionally, in Sec. VII, we demonstrate by vehicle tests that planned
trajectories are drivable despite the use … Addition A2 ensures that we obtain connected sets with a …

… the needs, whereas, verification ensures the correctness and … injection testing, and formal
verification. The schematic overview … the reliability of motion planning and collision avoidance …

… of driving situations [2], [13]–[15]. Next, we introduce the two most commonly used ML paradigms
for motion planning. (1) … To ensure the predicted trajectories are physically feasible, we …