A Search-based Motion Planner Utilizing a Monitoring Functionality for Initiating Minimal Risk Maneuvers

Kailin Tong, Selim Solmaz, Martin Horn

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandBegutachtung

Abstract

A reliable automated driving system (ADS) needs to perform a minimal risk maneuver (MRM) in disrupting normal driving tasks, e.g., when its perception system fails or is unreliable. One way to achieve this is by utilizing a run-time monitoring device/functionality to supervise the automated driving system status to initiate an MRM. Unlike previous research on MRM planning or safe-stop planning, where a redundant planner is running, we solve this problem in a different direction. We propose a motion planning framework for MRM by extending the directed-graph map for normal driving conditions. In our implementation, the Monitoring device supervises sensors' health and data quality and decides whether an MRM should be initiated. If an MRM is triggered, no additional planner is required, but only one additional backup search graph for MRM is utilized. Hence, the planner redundancy is no longer necessary, and the computation resources can be potentially relieved. We evaluated our approach in normal driving and conditions with perception fault injections leading to MRM. Simulations utilizing the Autoware (architecture proposal) software stack [1] indicate that the proposed framework fulfills the deadline of 30 ms and provides increased reliability in ADS.
Originalspracheenglisch
Titel2022 IEEE 25th International Conference on Intelligent Transportation Systems, ITSC 2022
Seiten4048-4055
Seitenumfang8
ISBN (elektronisch)978-1-6654-6880-0
DOIs
PublikationsstatusVeröffentlicht - 1 Nov. 2022
Veranstaltung25th IEEE International Conference on Intelligent Transportation Systems: IEEE ITSC 2022 - Macau, China
Dauer: 8 Okt. 202212 Okt. 2022

Publikationsreihe

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Band2022-October

Konferenz

Konferenz25th IEEE International Conference on Intelligent Transportation Systems
KurztitelIEEE ITSC 2022
Land/GebietChina
OrtMacau
Zeitraum8/10/2212/10/22

ASJC Scopus subject areas

  • Maschinenbau
  • Fahrzeugbau
  • Angewandte Informatik

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