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1. 发明申请

US20200175780A1 PRIVACY-AWARE SIGNAL MONITORING SYSTEMS AND METHODS 审中-公开
公开(公告)号：US20200175780A1
公开(公告)日：2020-06-04
申请号：US16780766
申请日：2020-02-03
申请人： TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.
发明人： Jyotirmoy V. Deshmukh , James P. Kapinski , Xiaoqing Jin , Luan V. Nguyen
IPC分类号： G07C5/00 , H04L29/06 , G07C5/08
摘要： Systems and methods are provided for monitoring time-series data relative to a temporal logic specification regarding expected behavior of a system, such as a vehicle. The time-series data and a threshold value(s) specified in the temporal logic specification may be encrypted and analyzed without decrypting the time-series data to maintain the privacy of a user(s) of the vehicle. Encryption of the time-series data and the threshold value(s) may be accomplished using an order preserving encryption scheme. Analysis of the time-series data may be accomplished utilizing a batch processing-type architecture or a continuous processing-type architecture. When utilizing the continuous processing-type architecture, historical time-series data may be stored and utilized to determine whether currently-monitored time-series data satisfies the temporal logic specification.

2. 发明申请

US20160092346A1 COVERAGE GUIDED TECHNIQUE FOR BUG FINDING IN CONTROL SYSTEMS AND SOFTWARE 有权
标题翻译：用于控制系统和软件中的BUG查找的覆盖指导技术
公开(公告)号：US20160092346A1
公开(公告)日：2016-03-31
申请号：US14847221
申请日：2015-09-08
申请人： Toyota Motor Engineering & Manufacturing North America, Inc. , University Joseph Fourier
发明人： James P. Kapinski , Jyotirmoy V. Deshmukh , Xiaoqing Jin , Thao Dang , Tommaso Dreossi
IPC分类号： G06F11/36
CPC分类号： G06F11/3676 , G06F11/3648
摘要： A computer-implemented method for automatically identifying a faulty behavior of a control system. The method includes receiving, at a test processor, a description of the faulty behavior. The method also includes selecting, using the test processor, a goal state based on a heuristic decision. The method also includes selecting, using the test processor, a selected system state. The method also includes selecting, using the test processor, a selected variable to the control system based on the goal state. The method also includes loading, from a memory, a control model of the control system. The method also includes performing, using the test processor, a simulation of the control model using the selected variable and the selected system state as parameters of the simulation. The method also includes determining, using the test processor, whether the faulty behavior was observed based on the simulation.
摘要翻译：一种用于自动识别控制系统的故障行为的计算机实现的方法。该方法包括在测试处理器处接收关于故障行为的描述。该方法还包括基于启发式决策来选择使用测试处理器的目标状态。该方法还包括使用测试处理器选择所选择的系统状态。该方法还包括基于目标状态选择使用测试处理器将控制系统的选定变量。该方法还包括从存储器加载控制系统的控制模型。该方法还包括使用测试处理器，使用所选择的变量和所选择的系统状态作为模拟的参数来执行控制模型的模拟。该方法还包括使用测试处理器确定是否基于仿真观察到故障行为。

3. 发明授权

US10429811B2 Systems and methods for testing convergence of closed-loop control systems 有权
公开(公告)号：US10429811B2
公开(公告)日：2019-10-01
申请号：US15093975
申请日：2016-04-08
申请人： Toyota Motor Engineering & Manufacturing North America, Inc.
发明人： Jyotirmoy V. Deshmukh , James P. Kapinski , Xiaoqing Jin
IPC分类号： G05B17/02 , G05B19/042
摘要： Systems and methods for evaluating closed-loop control systems are disclosed. In one embodiment, a method of evaluating a control system includes determining, using a processing device, one or more convergence classifier functions from a closed-loop model, wherein the one or more convergence classifier functions convey convergent behavior of the closed-loop model over a pre-determined period of time. The method further includes generating, using the processing device, a plurality of test cases of an input space of the closed-loop model under evaluation, and determining, using the processing device, whether one or more individual test cases of the plurality of test cases do not satisfy the one or more convergence classifier functions.

4. 发明授权

US09798652B2 Coverage guided technique for bug finding in control systems and software 有权
公开(公告)号：US09798652B2
公开(公告)日：2017-10-24
申请号：US14847221
申请日：2015-09-08
申请人： Toyota Motor Engineering & Manufacturing North America, Inc. , University Joseph Fourier
发明人： James P. Kapinski , Jyotirmoy V. Deshmukh , Xiaoqing Jin , Thao Dang , Tommaso Dreossi
IPC分类号： G06F11/00 , G06F11/36
CPC分类号： G06F11/3676 , G06F11/3648
摘要： A computer-implemented method for automatically identifying a faulty behavior of a control system. The method includes receiving, at a test processor, a description of the faulty behavior. The method also includes selecting, using the test processor, a goal state based on a heuristic decision. The method also includes selecting, using the test processor, a selected system state. The method also includes selecting, using the test processor, a selected variable to the control system based on the goal state. The method also includes loading, from a memory, a control model of the control system. The method also includes performing, using the test processor, a simulation of the control model using the selected variable and the selected system state as parameters of the simulation. The method also includes determining, using the test processor, whether the faulty behavior was observed based on the simulation.

5. 发明申请

US20140201723A1 Systems and Methods for Evaluating Stability of Software Code for Control Systems 有权
标题翻译：用于评估控制系统软件代码稳定性的系统和方法
公开(公告)号：US20140201723A1
公开(公告)日：2014-07-17
申请号：US13760407
申请日：2013-02-06
申请人： Toyota Motor Engineering & Manufacturing North America, Inc.
发明人： James P. Kapinski , Jyotirmoy V. Deshmukh
IPC分类号： G06F11/36
CPC分类号： G05B13/02 , B60T8/17551 , B60T2270/86 , G05B23/0248 , G06F11/3608
摘要： In one embodiment, a method of evaluating stability of software code for a control system includes receiving a set of initial trajectories by a semidefinite programming solver module, and determining one or more candidate Lyapunov functions based on the set of initial trajectories. The method further includes performing a plurality of simulations using a model of the control system to create a set of discovered trajectories, and evaluating the set of discovered trajectories to determine one or more counterexample trajectories that violate one or more Lyapunov conditions. If one or more counterexample trajectories are discovered, then the method includes inputting the set of discovered trajectories including the one or more counterexample trajectories into the semidefinite programming solver module, and determining, by the semidefinite programming solver module, one or more additional candidate Lyapunov functions from the set of initial trajectories and the set of discovered trajectories.
摘要翻译：在一个实施例中，评估用于控制系统的软件代码的稳定性的方法包括：通过半定制编程解算器模块接收一组初始轨迹，以及基于初始轨迹集来确定一个或多个候选Lyapunov函数。该方法还包括使用控制系统的模型来执行多个模拟以创建一组已发现的轨迹，以及评估所发现的轨迹集合以确定违反一个或多个Lyapunov条件的一个或多个反例轨迹。如果发现一个或多个反例轨迹，则该方法包括将包括一个或多个反例轨迹的所发现的轨迹集合输入到半定义编程解算器模块中，并且由半定规划求解器模块确定一个或多个另外的候选Lyapunov函数从一组初始轨迹和一组发现的轨迹。

6. 发明申请

US20190280319A1 STL ACTUATION-PATH PLANNING 审中-公开
公开(公告)号：US20190280319A1
公开(公告)日：2019-09-12
申请号：US15917447
申请日：2018-03-09
申请人： Toyota Motor Engineering & Manufacturing North America, Inc.
发明人： Jyotirmoy V. Deshmukh , Xiaoqing Jin , Jared Farnsworth
IPC分类号： H01M8/04298 , H01M8/04746 , B60L3/12 , B60L3/00 , B60L11/18
摘要： A system for determining desired control paths for controlling operation of a fuel cell circuit includes a memory to store a model of the fuel cell circuit and an input device to receive system requirements. The system also includes a model processor designed to select sets of time-series actuator states corresponding to time-series control of an actuator of the fuel cell circuit and to perform simulations of the model using the multiple sets of time-series actuator states as controls for the actuator. The model processor is also performs an analysis of results of the simulations to determine whether the results for each of the multiple sets of time-series actuator states satisfy the system requirements and how far the results are from the system requirements, and selects a final set of time-series actuator states that satisfy the system requirements based on the analysis.

7. 发明申请

US20170293285A1 SYSTEMS AND METHODS FOR TESTING CONVERGENCE OF CLOSED-LOOP CONTROL SYSTEMS 审中-公开
公开(公告)号：US20170293285A1
公开(公告)日：2017-10-12
申请号：US15093975
申请日：2016-04-08
申请人： Toyota Motor Engineering & Manufacturing North America, Inc.
发明人： Jyotirmoy V. Deshmukh , James P. Kapinski , Xiaoqing Jin
IPC分类号： G05B19/406
CPC分类号： G05B19/0426 , G05B17/02 , G05B19/0428
摘要： Systems and methods for evaluating closed-loop control systems are disclosed. In one embodiment, a method of evaluating a control system includes determining, using a processing device, one or more convergence classifier functions from a closed-loop model, wherein the one or more convergence classifier functions convey convergent behavior of the closed-loop model over a pre-determined period of time. The method further includes generating, using the processing device, a plurality of test cases of an input space of the closed-loop model under evaluation, and determining, using the processing device, whether one or more individual test cases of the plurality of test cases do not satisfy the one or more convergence classifier functions.

8. 发明授权

US09081900B2 Systems and methods for mining temporal requirements from block diagram models of control systems 有权
标题翻译：控制系统框图模型挖掘时间要求的系统和方法
公开(公告)号：US09081900B2
公开(公告)日：2015-07-14
申请号：US13651961
申请日：2012-10-15
申请人： Toyota Motor Engineering & Manufacturing North America, Inc. , The Regents of the University of California
发明人： Jyotirmoy V. Deshmukh , Xiaoqing Jin , Alexandre Donze , Sanjit A. Seshia
IPC分类号： G06F9/44 , G06F9/45 , G06F11/36 , G06F11/34
CPC分类号： G06F11/3692 , G05B23/0243 , G06F11/3457 , G06F11/3466 , G06F11/3604 , G06F17/50
摘要： Systems and methods for mining a temporal requirement from a block diagram model of a closed loop control system are disclosed. One embodiment of a method includes simulating the closed loop control system of a vehicle to obtain simulation traces and determining a candidate requirement by instantiating a template requirement with values of the simulation traces to locate parameter values that suggest that the template requirement is fulfilled. Some embodiments of the method include determining whether a counterexample to the candidate requirement exists; and in response to determining that the counterexample to the candidate requirement exists, obtaining the counterexample to the candidate requirement and adding the counterexample to the simulation traces for inspection.
摘要翻译：公开了从闭环控制系统的框图模型挖掘时间要求的系统和方法。方法的一个实施例包括模拟车辆的闭环控制系统以获得模拟轨迹并通过用模拟轨迹的值实例化模板要求来确定候选要求，以定位表明满足模板要求的参数值。该方法的一些实施例包括确定是否存在对候选要求的反例; 并且响应于确定存在候选需求的反例，获得候选要求的反例，并将反例添加到模拟轨迹进行检查。

9. 发明授权

US11467575B2 Systems and methods for safety-aware training of AI-based control systems 有权
公开(公告)号：US11467575B2
公开(公告)日：2022-10-11
申请号：US16455360
申请日：2019-06-27
申请人： TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC. , UNIVERSITY OF SOUTHERN CALIFORNIA
发明人： James P. Kapinski , Jyotirmoy V. Deshmukh , Danil Prokhorov
IPC分类号： G05D1/00 , G06N3/08 , G06N3/00 , G06N3/04
摘要： Systems and methods are provided for implementing safety-aware artificial intelligence (AI) that can be used for autonomously controlling systems, such as an autonomous vehicle, in a manner that is proven to satisfy given safety constraints. Additionally, a safety-aware training technique can be applied to learned AI-based models, such as neural networks. The safety-aware training techniques can apply automated reasoning tools (ART) while the AI model is trained, in order to produce a model that is provable safe with respect to the safety constraints. The ART can integrate verification into the training process, and thereby dynamically re-train the model based on the safety verification in a feedback loop approach. The ART can be configured to either verify that the AI model is provably safety, or to provide updates to the training parameters used during to re-train the AI model in instances when the safety verification has failed.

10. 发明授权

US11087568B2 Privacy-aware signal monitoring systems and methods 有权
公开(公告)号：US11087568B2
公开(公告)日：2021-08-10
申请号：US16780766
申请日：2020-02-03
申请人： TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, INC.
发明人： Jyotirmoy V. Deshmukh , James P. Kapinski , Xiaoqing Jin , Luan V. Nguyen
IPC分类号： G07C5/00 , G07C5/08 , H04L29/06
摘要： Systems and methods are provided for monitoring time-series data relative to a temporal logic specification regarding expected behavior of a system, such as a vehicle. The time-series data and a threshold value(s) specified in the temporal logic specification may be encrypted and analyzed without decrypting the time-series data to maintain the privacy of a user(s) of the vehicle. Encryption of the time-series data and the threshold value(s) may be accomplished using an order preserving encryption scheme. Analysis of the time-series data may be accomplished utilizing a batch processing-type architecture or a continuous processing-type architecture. When utilizing the continuous processing-type architecture, historical time-series data may be stored and utilized to determine whether currently-monitored time-series data satisfies the temporal logic specification.

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