论文标题
自动驾驶汽车的在线验证概念 - 轨迹计划模块的说明性研究
Online Verification Concept for Autonomous Vehicles -- Illustrative Study for a Trajectory Planning Module
论文作者
论文摘要
面对频繁的功能更新和复杂软件堆栈（包括人工智能）的自动驾驶汽车的监管批准和安全保证是一个具有挑战性的话题。本文提出了一个概念和指南，以开发在线验证模块 - 主管 - 能够处理上述挑战。为建立主管而提出的概念是通过识别和监视有助于安全操作的广泛功能的方式设计的。结果，达到了总体（子）系统。维护自动赛车的运动计划者用于说明手头框架的程序和实用性。在基于方案的测试环境和全尺度车辆数据中评估所提出方法的功能。
Regulatory approval and safety guarantees for autonomous vehicles facing frequent functional updates and complex software stacks, including artificial intelligence, are a challenging topic. This paper proposes a concept and guideline for the development of an online verification module -- the Supervisor -- capable of handling the aforementioned challenges. The concept presented for the establishment of a Supervisor is designed in a way to identify and monitor an extensive list of features contributing to safe operation. As a result, a safe overall (sub)system is attained. Safeguarding a motion planner of an autonomous race vehicle is used to illustrate the procedure and practicability of the framework at hand. The capabilities of the proposed method are evaluated in a scenario-based test environment and on full-scale vehicle data.
