Representing the Unknown – Impact of Uncertainty on the Interaction between Decision Making and Trajectory Generation

Nolte, Marcus; Ernst, Susanne; Richelmann, Jan; Maurer, Markus

doi:10.1109/itsc.2018.8569490

Cited by 12 publications

(9 citation statements)

References 23 publications

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“…Collision probabilities for trajectories can be determined on such a basis. Another major uncertainty that must be taken into account in a risk assessment is that caused by sensor occlusion (Nolte et al, 2018). Objects that may not yet be visible to the AV may be involved in a future collision.…”

Section: Mathematical Formulation Of Riskmentioning

confidence: 99%

Autonomous Driving Ethics: from Trolley Problem to Ethics of Risk

et al. 2021

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In 2017, the German ethics commission for automated and connected driving released 20 ethical guidelines for autonomous vehicles. It is now up to the research and industrial sectors to enhance the development of autonomous vehicles based on such guidelines. In the current state of the art, we find studies on how ethical theories can be integrated. To the best of the authors’ knowledge, no framework for motion planning has yet been published which allows for the true implementation of any practical ethical policies. This paper makes four contributions: Firstly, we briefly present the state of the art based on recent works concerning unavoidable accidents of autonomous vehicles (AVs) and identify further need for research. While most of the research focuses on decision strategies in moral dilemmas or crash optimization, we aim to develop an ethical trajectory planning for all situations on public roads. Secondly, we discuss several ethical theories and argue for the adoption of the theory “ethics of risk.” Thirdly, we propose a new framework for trajectory planning, with uncertainties and an assessment of risks. In this framework, we transform ethical specifications into mathematical equations and thus create the basis for the programming of an ethical trajectory. We present a risk cost function for trajectory planning that considers minimization of the overall risk, priority for the worst-off and equal treatment of people. Finally, we build a connection between the widely discussed trolley problem and our proposed framework.

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Section: Mathematical Formulation Of Riskmentioning

confidence: 99%

Autonomous Driving Ethics: from Trolley Problem to Ethics of Risk

et al. 2021

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“…A first important fact is that moving in public traffic and thus the decisions made by the vehicle automation system always come with an inherent risk. This risk is caused by the fact that our traffic system basically constitutes an open world, which causes significant epistemic uncertainty [43]: almost anything can happen at any time. In consequence, this risk is directly reflected in uncertainty about the boundaries of the selected ODD when specifying the vehicle automation system.…”

Section: A Aspects Of the Operational Design Domain -Uncertain Odd Bo...mentioning

confidence: 99%

“…The formulation of an ODD with corresponding OEDR strategies can now be seen as an attempt to convert the originally open world into an axiomatic closed world under a set of (hopefully) explicitly stated assumptions [25,43]. By this, the influence of the risk that originates from the traffic system itself can be mitigated by choosing smaller ODDs (cf.…”

Section: A Aspects Of the Operational Design Domain -Uncertain Odd Bo...mentioning

confidence: 99%

Supporting Safe Decision Making Through Holistic System-Level Representations & Monitoring -- A Summary and Taxonomy of Self-Representation Concepts for Automated Vehicles

Nolte,

Jatzkowski,

Ernst

et al. 2020

Preprint

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The market introduction of automated vehicles has motivated intense research efforts into the safety of automated vehicle systems. Unlike driver assistance systems, SAE Level 3+ systems are not only responsible for executing (parts of) the dynamic driving task (DDT) [1], but also for monitoring the automation system's performance at all times. Key components to fulfill these surveillance tasks are system monitors which can assess the system's performance at runtime, e.g. to activate fallback modules in case of partial system failures. In order to implement reasonable monitoring strategies for an automated vehicle, holistic system-level approaches are required, which make use of sophisticated internal system models. In this paper we present definitions and an according taxonomy, subsuming such models as a vehicle's self-representation and highlight the terms' roles in a scene and situation representation.Holistic system-level monitoring does not only provide the possibility to use monitors for the activation of fallbacks. In this paper we argue, why holistic system-level monitoring is a crucial step towards higher levels of automation, and give an example how it also enables the system to react to performance loss at a tactical level by providing input for decision making.

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“…sensors, while it could be assumed, that objects can emerge from every such occluded area. This leads to the necessity of making assumptions in terms of worst-case predictions for the movement of visible objects and existence of occluded objects [34]. The assumptions made in this context determine the vehicle's behavior significantly, depending on how conservative the predictions are.…”

Section: Behavioral Safety In Architectural Viewsmentioning

confidence: 99%

A System's Perspective Towards an Architecture Framework for Safe Automated Vehicles

Bagschik

Nolte

Ernst

et al. 2018

2018 21st International Conference on Intelligent Transportation Systems (ITSC)

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With an increasing degree of automation, automated vehicle systems become more complex in terms of functional components as well as interconnected hardware and software components. Thus, holistic systems engineering becomes a severe challenge. Emergent properties like system safety are not solely arguable in singular viewpoints such as structural representations of software or electrical wiring (e.g. fault tolerant). This states the need to get several viewpoints on a system and describe correspondences between these views in order to enable traceability of emergent system properties. Today, the most abstract view found in architecture frameworks is a logical description of system functions which structures the system in terms of information flow and functional components. In this article we extend established system viewpoints towards a capability-based assessment of an automated vehicle and conduct an exemplary safety analysis to derive behavioral safety requirements. These requirements can afterwards be attributed to different viewpoints in an architecture frameworks and thus be integrated into a development process for automated vehicles.

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Representing the Unknown – Impact of Uncertainty on the Interaction between Decision Making and Trajectory Generation

Cited by 12 publications

References 23 publications

Autonomous Driving Ethics: from Trolley Problem to Ethics of Risk

Autonomous Driving Ethics: from Trolley Problem to Ethics of Risk

Supporting Safe Decision Making Through Holistic System-Level Representations & Monitoring -- A Summary and Taxonomy of Self-Representation Concepts for Automated Vehicles

A System's Perspective Towards an Architecture Framework for Safe Automated Vehicles

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