自動運転車と物理世界：RSS、変動性、不確実性、安全性の証明
Autonomous Vehicles Meet the Physical World: RSS, Variability, Uncertainty, and Proving Safety (Expanded Version)
RSSモデルを拡張し、制動中の衝突など物理的変動を考慮した追従距離式を提案するとともに、マイクロODDで運用空間を分割して安全性を証明可能にする手法を示した。
著者: Philip Koopman, Beth Osyk, Jack Weast
分類: cs.RO, cs.LG
原文アブストラクト
The Responsibility-Sensitive Safety (RSS) model offers provable safety for vehicle behaviors such as minimum safe following distance. However, handling worst-case variability and uncertainty may significantly lower vehicle permissiveness, and in some situations safety cannot be guaranteed. Digging deeper into Newtonian mechanics, we identify complications that result from considering vehicle status, road geometry and environmental parameters. An especially challenging situation occurs if these parameters change during the course of a collision avoidance maneuver such as hard braking. As part of our analysis, we expand the original RSS following distance equation to account for edge cases involving potential collisions mid-way through a braking process. We additionally propose a Micro-Operational Design Domain ({\mu}ODD) approach to subdividing the operational space as a way of improving permissiveness. Confining probabilistic aspects of safety to {\mu}ODD transitions permits proving safety (when possible) under the assumption that the system has transitioned to the correct {\mu}ODD for the situation. Each {\mu}ODD can additionally be used to encode system fault responses, take credit for advisory information (e.g., from vehicle-to-vehicle communication), and anticipate likely emergent situations.
