Goal-Aware RSS for Complex Scenarios via Program Logic

@article{Hasuo2022GoalAwareRF,
  title={Goal-Aware RSS for Complex Scenarios via Program Logic},
  author={Ichiro Hasuo and Clovis Eberhart and James Frederick Haydon and J{\'e}r{\'e}my Dubut and Rose Bohrer and Tsutomu Kobayashi and Sasinee Pruekprasert and Xiaoyi Zhang and Erik Andr'e Pallas and Akihisa Yamada and Kohei Suenaga and Fuyuki Ishikawa and Kenji Kamijo and Yoshiyuki Shinya and Takamasa Suetomi},
  journal={ArXiv},
  year={2022},
  volume={abs/2207.02387}
}
—We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement—in addition to collision avoidance as in the original RSS— requires complex planning over long sequences of manoeuvres. To deal with the complexity, we introduce a compositional reasoning framework based on program logic, in which one can systematically develop RSS rules for smaller… 

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