The MUSICC project has created a proof-of-concept scenario database to be used as part of a type approval process for the verification of automated driving systems (ADS). This process must include a highly automated means of evaluating test results, as manual review at the scale required is impractical.
This paper sets out a framework for assessing an ADS's behavioural safety in normal operation (i.e. performance of the dynamic driving task without component failures or malicious actions). Five top-level evaluation criteria for ADS performance are identified. Implementing these requires two types of outcome scoring rule: prescriptive (measurable rules which must always be followed) and risk-based (undesirable outcomes which must not occur too often). Scoring rules are defined in a programming language and will be stored as part of the scenario description.
Risk-based rules cannot give a pass/fail decision from a single test case. Instead, a framework is defined to reach a decision for each functional scenario (set of test cases with common features). This considers statistical performance across many individual tests. Implications of this framework for hypothesis testing and scenario selection are identified.
Simulation has long been an essential part of testing autonomous driving systems, but only recently has simulation been useful for building and training self-driving vehicles. Vehicle behavioural models are necessary to simulate the interactions between robot cars. This paper proposed a new method to formalize the lane-changing model in urban driving scenarios. We define human incentives from different perspectives, speed incentive, route change incentive, comfort incentive and courtesy incentive etc. We applied a decision-theoretical tool, called Multi-Criteria Decision Making (MCDM) to take …
doPlan: A Variable-Horizon Dataset for Multi-Stage Language-Conditioned Planning in Autonomous Driving
Laboratory for Intelligent & Safe Automobiles (LISA), University of California, San Diego（加州大学圣迭戈分校智能与安全汽车实验室（LISA））；Machine Intelligence, Interaction, and Imagination (Mi) Laboratory, University of California, Merced（加州大学默塞德分校机器智能、交互与想象实验室（Mi））
Self-driving Autonomous Vehicles (SAVs) are gaining more interest each passing day by the industry as well as the general public. Tech and automobile companies are investing huge amounts of capital in research and development of SAVs to make sure they have a head start in the SAV market in the future. One of the major hurdles in the way of SAVs making it to the public roads is the lack of confidence of public in the safety aspect of SAVs. In order to assure safety and provide confidence to the public in the safety of SAVs, researchers around the world have used coverage-based testing for Verif…
This paper issues an integrated control system of self-driving autonomous vehicles based on the personal driving preference to provide personalized comfortable driving experience to autonomous vehicle users. We propose an Occupant's Preference Metric (OPM) which is defining a preferred lateral and longitudinal acceleration region with maximum allowable jerk for users. Moreover, we propose a vehicle controller based on control parameters enabling integrated lateral and longitudinal control via preference-aware maneuvering of autonomous vehicles. The proposed system not only provides the criteri…
Despite the rapid improvement of autonomous driving technology in recent years, automotive manufacturers must resolve liability issues to commercialize autonomous passenger car of SAE J3016 Level 3 or higher. To cope with the product liability law, manufacturers develop autonomous driving systems in compliance with international standards for safety such as ISO 26262 and ISO 21448. Concerning the safety of the intended functionality (SOTIF) requirement in ISO 26262, the driving policy recommends providing an explicit rational basis for maneuver decisions. In this case, mathematical models such…
RWTH Aachen University（亚琛工业大学）；Institute for Automotive Engineering（汽车工程研究所）
Safety assurance of automated driving systems must consider uncertain environment perception. This paper reviews literature addressing how perception testing is realized as part of safety assurance. We focus on testing for verification and validation purposes at the interface between perception and planning, and structure our analysis along the three axes 1) test criteria and metrics, 2) test scenarios, and 3) reference data. Furthermore, the analyzed literature includes related safety standards, safety-independent perception algorithm benchmarking, and sensor modeling. We find that the realiz…
Exploring the Influence of Driving Context on Lateral Driving Style Preferences: A Simulator-Based Study
Technical University Berlin（柏林工业大学）；University of Applied Science Kempten（肯普滕应用科学大学）；Institute for Driver Assistance and Connected Mobility（驾驶员辅助与互联移动研究所）
This paper presents a driver-specific risk recognition framework for autonomous vehicles that can extract inter-vehicle interactions. This extraction is carried out for urban driving scenarios in a driver-cognitive manner to improve the recognition accuracy of risky scenes. First, clustering analysis is applied to the operation data of drivers for learning the subjective assessment of risky scenes of different drivers and generating the corresponding risk label for each scene. Second, the graph representation model (GRM) is adopted to unify and construct the features of dynamic vehicles, inter…
PerceptIn（PerceptIn公司）；The University of Texas at Dallas（德克萨斯大学达拉斯分校）；South China University of Technology（华南理工大学）；University of Sydney（悉尼大学）
This paper is the first to provide a thorough system design overview along with the fusion methods selection criteria of a real-world cooperative autonomous driving system, named Infrastructure-Augmented Autonomous Driving or IAAD. We present an in-depth introduction of the IAAD hardware and software on both road-side and vehicle-side computing and communication platforms. We extensively characterize the IAAD system in the context of real-world deployment scenarios and observe that the network condition that fluctuates along the road is currently the main technical roadblock for cooperative au…
Peking University（北京大学）；China North Vehicle Research Institute（中国北方车辆研究所）
Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that is trained on large datasets of fine-labeled scene images. Whereas at cluttered dynamic scenes such as campus or park, human activities are not strongly confined by rules, and the functional attributes of places are not strongly correlated with objects. So how to define, model and infer scene categories is crucial to make the technique really helpful in assis…
Evaluation and Control Model Design of Human Factors for Autonomous Driving Systems
The Hong Kong University of Science and Technology（香港科技大学）；Shanghai Jiao Tong University（上海交通大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））
fortiss GmbH（福蒂斯有限公司）；Technische Universität München（慕尼黑工业大学）
Although many research vehicle platforms for autonomous driving have been built in the past, hardware design, source code and lessons learned have not been made available for the next generation of demonstrators. This raises the efforts for the research community to contribute results based on real-world evaluations as engineering knowledge of building and maintaining a research vehicle is lost. In this paper, we deliver an analysis of our approach to transferring an open source driving stack to a research vehicle. We put the hardware and software setup in context to other demonstrators and ex…
State Key Laboratory of Automotive Safety and Energy, Tsinghua University（清华大学汽车安全与节能国家重点实验室）
With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make unpredicted decisions in unfamiliar scenarios. Combining deep reinforcement learning and safety based control can get good performance for self-driving and collision avoidance. In this passage, we use the Deep Deterministic Policy Gradient algorithm to implement autonomous driving without vehicles around. The vehicle can learn the driving policy in a stable and fam…
School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航天工程学院）
Considering that human-driven vehicles and autonomous vehicles (AVs) will coexist on roads in the future for a long time, how to merge AVs into human drivers traffic ecology and minimize the effect of AVs and their misfit with human drivers, are issues worthy of consideration. Moreover, different passengers have different needs for AVs, thus, how to provide personalized choices for different passengers is another issue for AVs. Therefore, a human-like decision making framework is designed for AVs in this paper. Different driving styles and social interaction characteristics are formulated for …
University of Surrey（萨里大学）；University of Warwick（华威大学）；Warwick Manufacturing Group（华威制造集团）
Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow. Anticipating the intention of surrounding vehicles, estimating their future states and integrating them into the decision-making process of an automated vehicle can enhance the reliability of autonomous driving in complex driving scenarios. This paper proposes a Prediction-based Deep Reinforcement Learning (PDRL) decision-making model that considers the man…
Autonomous driving is a challenging domain that entails multiple aspects: a vehicle should be able to drive to its destination as fast as possible while avoiding collision, obeying traffic rules and ensuring the comfort of passengers. In this paper, we present a deep learning variant of thresholded lexicographic Q-learning for the task of urban driving. Our multi-objective DQN agent learns to drive on multi-lane roads and intersections, yielding and changing lanes according to traffic rules. We also propose an extension for factored Markov Decision Processes to the DQN architecture that provid…
Warwick Manufacturing Group, University of Warwick（华威大学制造工程学院）；Jaguar Land Rover Ltd.（捷豹路虎有限公司）
Behaviour prediction function of an autonomous vehicle predicts the future states of the nearby vehicles based on the current and past observations of the surrounding environment. This helps enhance their awareness of the imminent hazards. However, conventional behaviour prediction solutions are applicable in simple driving scenarios that require short prediction horizons. Most recently, deep learning-based approaches have become popular due to their superior performance in more complex environments compared to the conventional approaches. Motivated by this increased popularity, we provide a c…
Universität Stuttgart（斯图加特大学）；Aalborg University（奥尔堡大学）
We present analysis techniques for large trajectory data sets that aim to provide a semantic understanding of trajectories reaching beyond them being point sequences in time and space. The presented techniques use a driving preference model w.r.t. road segment traversal costs, e.g., travel time and distance, to analyze and explain trajectories. In particular, we present trajectory mining techniques that can (a) find interesting points within a trajectory indicating, e.g., a via-point, and (b) recover the driving preferences of a driver based on their chosen trajectory. We evaluate our techniqu…
FZI Research Center for Information Technology（FZI信息技术研究中心）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）
Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion planning. This paper focuses on motion planning given an uncertain environment model with occlusions. We present a method to remain collision free for the worst-case evolution of the given scene. We define criteria that measure the available margins to a collision while considering visibility and interactions, and consequently integrate conditions that apply the…
