Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles
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| Title | Rules of the Road: Formal Guarantees for Autonomous Vehicles With Behavioral Contract Design |
|---|---|
| Authors | Karena X. Cai, Tung Phan-Minh, Soon-Jo Chung and Richard M. Murray |
| Source | IEEE Transactions on Robotics, 39(3) |
| Abstract | The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for designing autonomous vehicle behavior in a way that is safe and guarantees progress for all agents. In this paper, we first introduce a new game paradigm which we term the quasi-simultaneous game. We then define an agent protocol that all agents must use to make decisions in this quasi-simultaneous game setting. According to the protocol, agents first select an intended action using a behavioral profile. Then, the protocol defines whether an agent has precedence to take its intended action or must take a sub-optimal action. The protocol ensures safety under all traffic conditions and liveness for all agents under `sparse' traffic conditions. We provide proofs of correctness of the protocol and validate our results in simulation. |
| Type | Journal paper |
| URL | https://arxiv.org/abs/2011.14148 |
| DOI | 10.1109/TRO.2023.3247951 |
| Tag | CPCM21-tro |
| ID | 2021c |
| Funding | NSF VeHICaL |
| Flags | NCS |
