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Abstract
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27th International Technical Conference on the Enhanced Safety of Vehicles (ESV): Enhanced and Equitable Vehicle Safety for All: Toward the Next 50 Years
https://www-esv.nhtsa.dot.gov/Proceedings/27/27ESV-000121.pdf
Ensuring safety of automated vehicles (AVs) within their operational design domain (ODD) is essential for a release. In some parts of the ODD, ensuring safe operation is more challenging, requiring more sophisticated driving capabilities. For example, the same intersection requires different capabilities depending on the selected turn, i.e., if driving right, left, or straight ahead. To guarantee safe operation, only route sections for which capabilities for safe driving are available and validated should be selected. So far, the direct relationship between routes within ODDs and the driving capabilities of AVs has not been explicitly addressed. This paper presents for the first time an approach to identify routes with driving requirements that do not exceed driving capabilities of AVs. To this end, this approach builds on the Behavior-Semantic Scenery Description (BSSD), which links behavioral demands for AVs directly to the scenery as a central element of the ODD. Based on the BSSD, routebased behavioral requirements are derived. Geometric characteristics of the scenery are used to specify driving requirements and driving capabilities that can be matched as a function of route and developed matching criteria. This matching is integrated into a conventional route planner, which as a result determines routes that are drivable based on the driving capabilities of an AV. The application to a real road network shows that the identification of capability-based routes is generally possible. Different intersections demand different requirements and lead to different routes. Nevertheless, several challenges are discussed that need to be overcome for a real-world application for development, testing, and operation of AVs.
Language: en |