Safety Analysis and Strategy Design for Decision System of Urban Autonomous Driving Vehicles
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School of Automotive Studies, Tongji University, Shanghai 201804, China

Clc Number:

U461.91

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    Abstract:

    Based on system theory process analysis (STPA), a safety development method for high level autonomous driving decision systems was proposed. The proposed method was applied to the prototype of an urban autonomous driving decision system. 70 Unsafe Control Actions (UCAs) for the entire system were found through safety analysis. Focusing on 3 function states of the system, 10 reasons for UCAs and 9 safety strategies were put forward. One strategy got implemented and validated through model-in-the-loop simulations. Test results show, the safety strategy is effective and the proposed method can enhance the safety of autonomous driving decision systems.

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    Fig.1 Proposed safety development method
    Fig.2 Control structure of autonomous vehicles
    Fig.3 FSA-based process model of the decision-making system
    Fig.4 Testing Scenario of the auto-parking function
    Fig.5 Process of the accident during auto-parking
    Fig.6 FSA of the auto-parking function with AEB state
    Fig.7 Process of auto-parking with the safety strategy implemented
    Fig.8 Speed and relative distance during autoparking
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CHEN Junyi, LIU Lihao, ZHOU Tangrui, XING Xingyu. Safety Analysis and Strategy Design for Decision System of Urban Autonomous Driving Vehicles[J].同济大学学报(自然科学版),2020,48(12):1810~1817

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History
  • Received:September 30,2020
  • Online: December 31,2020
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