Difference between revisions of "Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles"
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Revision as of 02:05, 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|
|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.|