Details

Autor(en) / Beteiligte

• Hasuo, Ichiro
• Eberhart, Clovis
• Haydon, James
• Dubut, Jeremy
• Bohrer, Rose
• Kobayashi, Tsutomu
• Pruekprasert, Sasinee
• Zhang, Xiao-Yi
• Pallas, Erik Andre
• Yamada, Akihisa
• Suenaga, Kohei
• Ishikawa, Fuyuki
• Kamijo, Kenji
• Shinya, Yoshiyuki
• Suetomi, Takamasa

Titel

Goal-Aware RSS for Complex Scenarios via Program Logic

Ist Teil von

• IEEE transactions on intelligent vehicles, 2023-04, Vol.8 (4), p.3040-3072

Ort / Verlag

Piscataway: IEEE

Erscheinungsjahr

2023

Quelle

IEL

Beschreibungen/Notizen

• We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement-in addition to collision avoidance as in the original RSS-requires complex planning over long sequences of manoeuvres. To deal with the complexity, we introduce a compositional reasoning framework based on program logic, in which one can systematically develop RSS rules for smaller subscenarios and combine them to obtain RSS rules for bigger scenarios. As the basis of the framework, we introduce a program logic <inline-formula><tex-math notation="LaTeX">\text{dFHL}</tex-math></inline-formula> that accommodates continuous dynamics and safety conditions. Our framework presents a <inline-formula><tex-math notation="LaTeX">\text{dFHL}</tex-math></inline-formula>-based workflow for deriving goal-aware RSS rules; we discuss its software support, too. We conducted experimental evaluation using RSS rules in a safety architecture. Its results show that goal-aware RSS is indeed effective in realising both collision avoidance and goal achievement.