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Rules of the Road: Towards Safety and Liveness Guarantees for Autonomous Vehicles

Cai, Karena X. and Phan-Minh, Tung and Chung, Soon-Jo and Murray, Richard M. (2020) Rules of the Road: Towards Safety and Liveness Guarantees for Autonomous Vehicles. . (Unpublished)

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The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for the distributed control of autonomous vehicles that is safe and guarantees progress for all agents. In this paper, we first introduce a new game paradigm which we term the quasi-simultaneous discrete-time game. We then define an Agent Protocol agents must use to make decisions in this quasi-simultaneous discrete-time game setting. According to the protocol, agents first select an intended action and then each agent determines whether it can take its intended action or not, given its proposed intention and the intentions of nearby agents. The protocol so defined will ensure safety under all traffic conditions and liveness for all agents under "sparse" traffic conditions. These guarantees, however, are predicated on the premise that all agents are operating with the aforementioned protocol. We provide proofs of correctness of the protocol and validate our results in simulation.

Item Type:Report or Paper (Discussion Paper)
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URLURL TypeDescription Paper
Chung, Soon-Jo0000-0002-6657-3907
Murray, Richard M.0000-0002-5785-7481
Additional Information:Attribution 4.0 International (CC BY 4.0). This research supported by the National Science Foundation award CNS-1545126. We would like to acknowledge K. Mani Chandy who provided valuable input to the problem formulation and presentation of ideas in the manuscript and to Giovanna Amorim for her contributions to the simulation code. AUTHOR CONTRIBUTIONS. K.X.C., R.M.M., and T.P-M. jointly conceived the conceptual framework. K.X.C. and T.P-M. jointly developed the problem formulation and theoretical approach. K.X.C. worked out the main proofs with input from T.P-M. K.X.C. drafted the manuscript and figures with input from T.P-M. S-J.C. and R.M.M. provided guidance on the overall approach and provided feedback on the final manuscript.
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Record Number:CaltechAUTHORS:20210120-165255737
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:107617
Deposited By: George Porter
Deposited On:21 Jan 2021 16:41
Last Modified:21 Jan 2021 16:41

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