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Towards a Complete Safety Framework for Longitudinal Driving

Sidorenko, Galina ; Fedorov, Aleksei; Thunberg, Johan; Vinel, Alexey 1
1 Institut für Angewandte Informatik und Formale Beschreibungsverfahren (AIFB), Karlsruher Institut für Technologie (KIT)

Abstract:

Formal models for the safety validation of autonomous vehicles have become increasingly important. To this end, we present a safety framework for longitudinal automated driving. This framework allows calculating minimum safe inter-vehicular distances for arbitrary ego vehicle control policies. We use this framework to enhance the Responsibility-Sensitive Safety (RSS) model and models based on it, which fail to cover situations where the ego vehicle has a higher decelerating capacity than its preceding vehicle. For arbitrary ego vehicle control policies, we show how our framework can be applied by substituting real (possibly computationally intractable) controllers with upper bounding functions. This comprises a general approach for longitudinal safety, where safety guarantees for the upper-bounded system are equivalent to those for the original system but come at the expense of larger inter-vehicular distances.


Verlagsausgabe §
DOI: 10.5445/IR/1000155694
Veröffentlicht am 06.02.2023
Originalveröffentlichung
DOI: 10.1109/TIV.2022.3209910
Scopus
Zitationen: 9
Web of Science
Zitationen: 8
Dimensions
Zitationen: 11
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Angewandte Informatik und Formale Beschreibungsverfahren (AIFB)
Publikationstyp Zeitschriftenaufsatz
Publikationsmonat/-jahr 12.2022
Sprache Englisch
Identifikator ISSN: 2379-8904, 2379-8858
KITopen-ID: 1000155694
Erschienen in IEEE Transactions on Intelligent Vehicles
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Band 7
Heft 4
Seiten 809–814
Vorab online veröffentlicht am 27.09.2022
Nachgewiesen in Web of Science
Scopus
Dimensions
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