Difference between revisions of "Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles"
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|Title=Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles | |Title=Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles | ||
|Authors=Karena X. Cai, Tung Phan-Minh, Soon-Jo Chung, Richard M. Murray | |Authors=Karena X. Cai, Tung Phan-Minh, Soon-Jo Chung, Richard M. Murray | ||
|Source=Submitted, IEEE T. Robotics | |Source=Submitted, IEEE T. Robotics, July 2021 | ||
|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. | |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. | ||
|URL=https://arxiv.org/abs/2011.14148 | |URL=https://arxiv.org/abs/2011.14148 | ||
Latest revision as of 02:06, 5 September 2021
| Title | Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles |
|---|---|
| Authors | Karena X. Cai, Tung Phan-Minh, Soon-Jo Chung, Richard M. Murray |
| Source | Submitted, IEEE T. Robotics, July 2021 |
| 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 submission |
| URL | https://arxiv.org/abs/2011.14148 |
| Tag | CPCM21-tro |
| ID | 2021c |
| Funding | NSF VeHICaL |
| Flags | NCS |
