Risk-aware motion planning for autonomous vehicles with safety specifications

Conference paper (2021)

Authors

Truls Nyberg KTH Royal Institute of Technology, Research and Development at Scania Technical Centre
Christian Pek KTH Royal Institute of Technology
Laura Dal Col Research and Development at Scania Technical Centre
Christoffer Noren Research and Development at Scania Technical Centre
Jana Tumova KTH Royal Institute of Technology
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Published Date

2021

Language

English

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Abstract

Ensuring the safety of autonomous vehicles (AV s) in uncertain traffic scenarios is a major challenge. In this paper, we address the problem of computing the risk that AV s violate a given safety specification in uncertain traffic scenarios, where state estimates are not perfect. We propose a risk measure that captures the probability of violating the specification and determines the average expected severity of violation. Using highway scenarios of the US101 dataset and Responsible Sensitive Safety (RSS) as an example specification, we demonstrate the effectiveness and benefits of our proposed risk measure. By incorporating the risk measure into a trajectory planner, we enable AVs to plan minimal-risk trajectories and to quantify trade-offs between risk and progress in traffic scenarios.