Operational Design Domain Monitoring through Uncertain Observations
Résumé
Intelligent vehicles are constantly increasing their automation levels; thus, it is necessary to ensure that such vehicles operate under conditions designed to guarantee safe operation. This paper proposes a method to address this challenge using the Operational Design Domain (ODD) concept and vehicle onboard real-time monitoring. The proposed method comprises a framework that estimates the state of the Operational Domain (OD) while considering measurement uncertainty to determine whether the vehicle is operating within its ODD. This method utilizes fuzzy sets to represent the vagueness of real-world driving environments. We also introduce a taxonomy-based approach to formally define ODDs with respect to vehicle capabilities, independent of the architecture. The approach is demonstrated through simulation use cases, by monitoring the vehicle's OD at runtime and determining when it operates outside its defined ODD. The results pave the way for the introduction of verifiable safety rules based on OD membership degrees.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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