Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Towards a Complete Safety Framework for Longitudinal Driving

Sidorenko, Galina LU ; Fedorov, Aleksei LU ; Thunberg, Johan LU and Vinel, Alexey (2022) In IEEE Transactions on Intelligent Vehicles 7(4). p.809-814
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... (More)

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.

(Less)
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Automated Driving, Brakes, Collision Avoidance, Responsibility-Sensitive Safety, Roads, Safety, Safety Validation, Switches, Time factors, Trajectory, Vehicle-to-Vehicle Communications, Vehicular ad hoc networks
in
IEEE Transactions on Intelligent Vehicles
volume
7
issue
4
pages
6 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:85139526718
ISSN
2379-8858
DOI
10.1109/TIV.2022.3209910
language
English
LU publication?
yes
id
8aa7437f-9505-4e39-a3d2-e062895afa81
date added to LUP
2022-12-13 13:11:23
date last changed
2024-09-05 08:20:11
@article{8aa7437f-9505-4e39-a3d2-e062895afa81,
  abstract     = {{<p>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.</p>}},
  author       = {{Sidorenko, Galina and Fedorov, Aleksei and Thunberg, Johan and Vinel, Alexey}},
  issn         = {{2379-8858}},
  keywords     = {{Automated Driving; Brakes; Collision Avoidance; Responsibility-Sensitive Safety; Roads; Safety; Safety Validation; Switches; Time factors; Trajectory; Vehicle-to-Vehicle Communications; Vehicular ad hoc networks}},
  language     = {{eng}},
  number       = {{4}},
  pages        = {{809--814}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE Transactions on Intelligent Vehicles}},
  title        = {{Towards a Complete Safety Framework for Longitudinal Driving}},
  url          = {{http://dx.doi.org/10.1109/TIV.2022.3209910}},
  doi          = {{10.1109/TIV.2022.3209910}},
  volume       = {{7}},
  year         = {{2022}},
}