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.
A Step-by-step Guide on Nonlinear Model Predictive Control for Safe Mobile Robot Navigation
department of Cognitive Robotics, Delft University of Technology（认知机器人系，代尔夫特理工大学）；Institute for Dynamic Systems and Control, ETH Zürich（动态系统与控制研究所，苏黎世联邦理工学院）
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…
SinD 2.0: A Multi-City UAV Dataset with Semantic Risk Annotations for SOTIF-Oriented Safety Validation at Signalized Intersections
Tsinghua University（清华大学）；Beijing Institute of Technology（北京理工大学）；Guangzhou Automobile Group Co., Ltd.（广州汽车集团股份有限公司）；Jilin University（吉林大学）；Chang’an University（长安大学）；Chongqing University（重庆大学）；Southwest University（西南大学）；Wuhan University of Technology（武汉理工大学）；Virginia Tech Transportation Institute（弗吉尼亚理工大学交通研究所）；Virginia Tech（弗吉尼亚理工大学）
