# Online Verification Concept for Autonomous Vehicles -- Illustrative Study for a Trajectory Planning Module

arXiv: https://arxiv.org/abs/2005.07740 · HTML: https://mlsanity.com/paper/2005.07740/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 May 2020.

## Built on by (most cited first, 3 of 3)

- [Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing](https://mlsanity.com/paper/2202.07008/) (2022)
- [Rationale-aware Autonomous Driving Policy utilizing Safety Force Field implemented on CARLA Simulator](https://mlsanity.com/paper/2211.10237/) (2022)
- [Towards Safe Autonomous Driving: A Real-Time Motion Planning Algorithm on Embedded Hardware](https://mlsanity.com/paper/2601.03904/) (2026)

## Abstract (arXiv)

Regulatory approval and safety guarantees for autonomous vehicles facing frequent functional updates and complex software stacks, including artificial intelligence, are a challenging topic. This paper proposes a concept and guideline for the development of an online verification module -- the Supervisor -- capable of handling the aforementioned challenges. The concept presented for the establishment of a Supervisor is designed in a way to identify and monitor an extensive list of features contributing to safe operation. As a result, a safe overall (sub)system is attained. Safeguarding a motion planner of an autonomous race vehicle is used to illustrate the procedure and practicability of the framework at hand. The capabilities of the proposed method are evaluated in a scenario-based test environment and on full-scale vehicle data.