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
DOI 10.1109/TRO.2023.3247951
Tag CPCM21-tro
ID 2021c
Funding NSF VeHICaL
Flags NCS