论文标题
通过程序逻辑的复杂场景的目标感知RSS
Goal-Aware RSS for Complex Scenarios via Program Logic
论文作者
论文摘要
我们引入了责任敏感安全性（RSS）的目标感知扩展，这是一种基于规则的自动驾驶系统安全保证（ADS）的方法。制定RSS规则保证目标实现 - 除了原始RSS中的避免碰撞外，还需要进行长时间的操纵序列。为了应对复杂性，我们基于程序逻辑引入了一个组成推理框架，其中可以系统地为较小的subscenarios制定RSS规则，并将它们组合起来以获取用于较大场景的RSS规则。作为框架的基础，我们介绍了一个程序逻辑DFHL，可满足连续的动态和安全条件。我们的框架提出了一个基于DFHL的工作流程，用于推导目标感知RSS规则；我们也讨论其软件支持。我们使用安全体系结构中的RSS规则进行了实验评估。它的结果表明，目标感知RSS确实有效地实现了避免碰撞和目标实现目标。
We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement -- in addition to collision avoidance as in the original RSS -- requires complex planning over long sequences of manoeuvres. To deal with the complexity, we introduce a compositional reasoning framework based on program logic, in which one can systematically develop RSS rules for smaller subscenarios and combine them to obtain RSS rules for bigger scenarios. As the basis of the framework, we introduce a program logic dFHL that accommodates continuous dynamics and safety conditions. Our framework presents a dFHL-based workflow for deriving goal-aware RSS rules; we discuss its software support, too. We conducted experimental evaluation using RSS rules in a safety architecture. Its results show that goal-aware RSS is indeed effective in realising both collision avoidance and goal achievement.
