ルールブックによる意図された運転行動の安全性
Safety of the Intended Driving Behavior Using Rulebooks
自動運転車の経路計画におけるSOTIFプロセスとルールブックフレームワークを結びつけ、機能記述や検証・妥当性確認への活用可能性を論じた論文。
著者: Anne Collin, Artur Bilka, Scott Pendleton, Radboud Duintjer Tebbens
分類: cs.RO, cs.AI, cs.SY, eess.SY
原文アブストラクト
Autonomous Vehicles (AVs) are complex systems that drive in uncertain environments and potentially navigate unforeseeable situations. Safety of these systems requires not only an absence of malfunctions but also high performance of functions in many different scenarios. The ISO/PAS 21448 [1] guidance recommends a process to ensure the Safety of the Intended Functionality (SOTIF) for road vehicles. This process starts with a functional specification that fully describes the intended functionality and further includes the verification and validation that the AV meets this specification. For the path planning function, defining the correct sequence of control actions for each vehicle in all potential driving situations is intractable. In this paper, the authors provide a link between the Rulebooks framework, presented by [2], and the SOTIF process. We establish that Rulebooks provide a functional description of the path planning task in an AV and discuss the potential usage of the method for verification and validation.
