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Scene Graph Safety Monitoring (SGSM)

This repository contains the paper and the code of "Specifying and Monitoring Safe Driving Properties with Scene Graphs" presented at ICRA 2024 in Yokohama, Japan. The code is written in Python and requires conda and 7z to be installed. The code was tested using Ubuntu 20.04.

Installation

To install everything needed to run the code, execute the following command:

./install.sh

The installation script will do the following:

  1. Create a conda environment called 'sg_monitor'.
  2. Install the python packages specified in requirements.txt.
  3. Install mona using the install_mona.sh script

Usage

To reproduce the results of the paper, execute the following command:

./run.sh

This script will do the following:

  1. Activate the conda environment 'sg_monitor'.
  2. Pull the images and scene graphs collected from the CARLA simulator using TCP, Interfuser, and LAV.
  3. Check the properties specified in the paper, located in the properties.py file, using the scene graphs and the SG Monitor.
  4. Generate tables that show the property violations of the 3 Systems Under Test (SUTs) per Route and a Summary table that shows the total number of property violations per SUT.

Results

SUT Phi1 Phi2 Phi3 Phi4_S_5 Phi4_S_10 Phi4_S_15 Phi5 Phi6 Phi7_T_5 Phi7_T_10 Phi7_T_15 Phi8_T_5 Phi8_T_10 Phi8_T_15 Phi9 Total
Interfuser 3 0 10 0 0 0 3 9 10 5 5 10 5 5 7 72.0
TCP 6 0 10 0 0 0 2 6 5 3 3 8 0 0 8 51.0
LAV 6 1 10 0 0 0 3 2 8 6 5 10 6 1 7 65.0
Total 15 1 30 0 0 0 8 17 23 14 13 28 11 6 22 188.0

Presentation video

Property Violation Examples

Property 6: "If the Ego vehicle is moving and there is no entity in the same lane as the Ego vehicle within 7 meters, and there is no red traffic light or stop sign controlling the Ego vehicle's lane, then the Ego vehicle should not stop."​ - violated by Interfuser

Interfuser violating property 6

Property 9: "Once the Ego vehicle detects a new stop signal controlling its lane, it must stop before passing the stop signal."​ - violated by TCP

TCP violating property 9

Property 7: "If the Ego vehicle is not in a junction, then Ego vehicle cannot be in more than one lane for more than 15 seconds."​ - violated by LAV

LAV violating property 7

Tables

Table 3: Intermediate variables used in Atomic Propositions

Name DSL expression
egoLanes relSet(Ego, isIn)
egoRoads relSet(egoLanes, isIn)
egoJunctions relSet(egoRoads, isIn)
oppLanes relSet(egoLanes, opposes)
offRoad filterByAttr(egoLanes, kind, $\lambda x : x = \text{offRoad}$)
rightLanes relSet(egoLanes, toRightOf)
steerRight filterByAttr(Ego, steer, $\lambda x : x > 0$)
inEgoLane relSetR(egoLanes, isIn)\setminus {Ego}
nearColl relSet(inEgoLane, near_coll)
superNear relSet(inEgoLane, super_near)
egoFasterS filterByAttr(Ego, speed, $\lambda x : x > S$)
noThrottle filterByAttr(Ego, throttle, $\lambda x:x<\epsilon$)
tLights filterByAttr(G, kind, $\lambda x : x =\text{trafficLight}$)
redLights filterByAttr(tLights, lightState, $\lambda x:x=\text{Red}$)
trafLightLns relSet(redLights, controlsTrafficOf)
stopSigns filterByAttr(G, kind, $\lambda x : x =\text{stopSign}$)
stopSignLanes relSet(stopSigns, controlsTrafficOf)
egoStopped filterByAttr(Ego, speed, $\lambda x:x<\epsilon$)
juncRoads relSetR(egoJunctions, isIn)

Table 4: Atomic Propositions

Atomic Prop. DSL expression
isJunction $|egoJunctions|>0$
isOppLane $|oppLanes|>0$
isOffRoad $|offRoad|>0$
isInRightLane $|rightLanes|=0$
isNotSteerRight $|steerRight|=0$
isNearColl $|nearColl|>0$
isFasterThanS $|egoFasterS|=1$
isSuperNear $|superNear|>0$
isNoThrottle $|noThottle|=1$
isMultipleLanes $|egoLanes|>1$
hasRed $|trafLightLns \cap egoLanes|>0$
hasStop $|stopSignLanes \cap egoLanes|>0$
isStopped $|egoStopped|=1$
isOnlyJunction $|egoRoads \setminus juncRoads|=0$