Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 37, Issue 3, Pages 798-814Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2020.3036624
Keywords
Trajectory; Planning; Autonomous vehicles; Safety; Integrated circuits; Real-time systems; Robots; Autonomous vehicles; fail-safe operation; formal verification; motion planning; safe states; set-based computation
Categories
Funding
- German Federal Ministry of Economics and Technology through the research initiative Ko-HAF
- project interACT within the EU Horizon 2020 programme [723395]
- H2020 Societal Challenges Programme [723395] Funding Source: H2020 Societal Challenges Programme
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This article presents a verification technique for safe motion planning of autonomous vehicles, ensuring collision avoidance using fail-safe trajectories. The real-time capable verification technique operates under the premise of executing only verified safe trajectories, demonstrating potential to drastically reduce accidents without overly conservative behaviors.
Safe motion planning for autonomous vehicles is a challenging task, since the exact future motion of other traffic participant is usually unknown. In this article, we present a verification technique ensuring that autonomous vehicles do not cause collisions by using fail-safe trajectories. Fail-safe trajectories are executed if the intended motion of the autonomous vehicle causes a safety-critical situation. Our verification technique is real-time capable and operates under the premise that intended trajectories are only executed if they have been verified as safe. The benefits of our proposed approach are demonstrated in different scenarios on an actual vehicle. Moreover, we present the first in-depth analysis of our verification technique used in dense urban traffic. Our results indicate that fail-safe motion planning has the potential to drastically reduce accidents while not resulting in overly conservative behaviors of the autonomous vehicle.
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