United States Department of Transportation
i
Systematic and Provably Safe Design Methodology for Connected and Automated Vehicles
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2023-10-01
[PDF-8.63 MB]
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Edition:Final report (08/15/2022 – 10/01/2023)
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Abstract:Today’s sensor technologies are not at the level of emulating human eyes with 100% accuracy. Recent accidents with autonomous vehicles where sensors failed to correctly identify the threat suggests that sensor possible inaccuracies or inability to identify upcoming obstacles due to environmental conditions, road geometry, unpredictable vehicle maneuvers and traffic conditions need to be taken into account in a more systematic way. The safety-critical nature of autonomous vehicles calls for systematic analysis and design procedures to ensure the safety of the passengers, pedestrians, and other actors on the road by taking into account sensor uncertainties, road geometry, weather and traffic conditions, etc. The purpose of this project is to investigate systematic design methodologies for provably safe autonomous vehicles for a wide range of driving conditions. It will be investigated how systematic and provably safe methodologies can be designed in the presence or absence of vehicle-to-vehicle V2V and vehicle-to-infrastructure V2I communication. The other aspect of the project is to design a safe and provably correct design methodology that would provide strong guarantees for traffic rules compliance by autonomous vehicles. We use the control barrier function technique to define a safe set for autonomous vehicles. We then design a system that would provide formal guarantees that the autonomous vehicle will stay inside a well-defined safe set. The safe set is defined in such a way that its forward-invariance would guarantee the safety of passengers, neighboring vehicles, pedestrians, and obstacles as well as provable compliance with traffic rules. We will investigate all these issues in both connected and unconnected environment as well as environment of mixed connectivity.
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