Goal-Aware RSS for Complex Scenarios Via Program Logic
Goal-Aware RSS for Complex Scenarios Via Program Logic
复制标题
通过程序逻辑实现复杂场景的目标感知 RSS
DOI：
10.1109/tiv.2022.3169762
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发表时间：
2022
影响因子：
8.2
通讯作者：
Suetomi Takamasa
中科院分区：
文献类型：
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作者：
Hasuo Ichiro;Eberhart Clovis;Haydon James;Dubut Jeremy;Bohrer Rose;Kobayashi Tsutomu;Pruekprasert Sasinee;Zhang Xiao-Yi;Pallas Erik Andre;Yamada Akihisa;Suenaga Kohei;Ishikawa Fuyuki;Kamijo Kenji;Shinya Yoshiyuki;Suetomi Takamasa
我们介绍了责任敏感安全（RSS）的目标意识扩展，这是一种基于规则的自动驾驶系统（ADS）安全保证的最新方法。制定RSS规则保证目标的实现--除了在原始RSS中避免碰撞之外--需要在长序列的机动中进行复杂的规划。为了处理的复杂性，我们引入了一个基于程序逻辑的组合推理框架，其中一个可以系统地开发RSS规则较小的子场景和联合收割机，以获得RSS规则更大的场景。作为该框架的基础，我们引入了一个程序逻辑，可容纳连续动态和安全条件。我们的框架提出了一个基于工作流的目标感知RSS规则派生，我们讨论了它的软件支持，太。我们进行了实验评估，使用RSS规则的安全架构。结果表明，目标感知RSS确实有效地实现了避碰和目标达成。
We introduce agoal-awareextension 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 logicthat accommodates continuous dynamics and safety conditions. Our framework presents a-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.