Vehicle safety depends on (a) the range of identified hazards and (b) the operational situations for which mitigations of these hazards are acceptably decreasing risk. Moreover, with an increasing degree of autonomy, risk ownership is likely to increase for vendors towards regulatory certification. Hence, highly automated vehicles have to be equipped with verified controllers capable of reliably identifying and mitigating hazards in all possible operational situations. To this end, available methods for the design and verification of automated vehicle controllers have to be supported by models for hazard analysis and mitigation.
Wei et al. @cite_0 describe an autonomous driving platform, capable of bringing vehicles to a safe state and stop, activating a fail-operational mode on critical failure, and a limp-home mode on less critical failure. These are mitigation strategies we can assess in our framework. Their work elaborates on designing a specific class of architectures. Additionally, we provide an approach to systematically evaluate risks and, consequently, derive an architecture design.
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Reinforcement learning has steadily improved and outperform human in lots of traditional games since the resurgence of deep neural network. However, these success is not easy to be copied to autonomous driving because the state spaces in real world are extreme complex and action spaces are continuous and fine control is required. Moreover, the autonomous driving vehicles must also keep functional safety under the complex environments. To deal with these challenges, we first adopt the deep deterministic policy gradient (DDPG) algorithm, which has the capacity to handle complex state and action spaces in continuous domain. We then choose The Open Racing Car Simulator (TORCS) as our environment to avoid physical damage. Meanwhile, we select a set of appropriate sensor information from TORCS and design our own rewarder. In order to fit DDPG algorithm to TORCS, we design our network architecture for both actor and critic inside DDPG paradigm. To demonstrate the effectiveness of our model, We evaluate on different modes in TORCS and show both quantitative and qualitative results. Autonomous driving presents one of the largest problems that the robotics and artificial intelligence communities are facing at the moment, both in terms of difficulty and potential societ al impact. Self-driving vehicles (SDVs) are expected to prevent road accidents and save millions of lives while improving the livelihood and life quality of many more. However, despite large interest and a number of industry players working in the autonomous domain, there is still more to be done in order to develop a system capable of operating at a level comparable to best human drivers. One reason for this is high uncertainty of traffic behavior and large number of situations that an SDV may encounter on the roads, making it very difficult to create a fully generalizable system. To ensure safe and efficient operations, an autonomous vehicle is required to account for this uncertainty and to anticipate a multitude of possible behaviors of traffic actors in its surrounding. In this work, we address this critical problem and present a method to predict multiple possible trajectories of actors while also estimating their probabilities. The method encodes each actor's surrounding context into a raster image, used as input by deep convolutional networks to automatically derive relevant features for the task. Following extensive offline evaluation and comparison to state-of-the-art baselines, as well as closed course tests, the method was successfully deployed to a fleet of SDVs. Lessons from safety-critical anomalies during operation provide important information for constructing safer systems. To assist anomaly analysis, this research develops an integrated Failure Mode and Effect Analysis (FMEA) model to analyze causal scenarios and a Three-Frame Mode model to analyze the working mode inconsistencies of failure cases. The models are used to analyze 180 digital Instrumentation and Control (IC therefore, recovery should be emphasized and planned. The primary focus of autonomous driving research is to improve driving accuracy. While great progress has been made, state-of-the-art algorithms still fail at times. Such failures may have catastrophic consequences. It therefore is im- portant that automated cars foresee problems ahead as early as possible. This is also of paramount importance if the driver will be asked to take over. We conjecture that failures do not occur randomly. For instance, driving models may fail more likely at places with heavy traffic, at complex intersections, and or under adverse weather illumination conditions. This work presents a method to learn to predict the occurrence of these failures, i.e., to assess how difficult a scene is to a given driving model and to possibly give the human driver an early headsup. A camera- based driving model is developed and trained over real driving datasets. The discrepancies between the model's predictions and the human 'ground-truth' maneuvers were then recorded, to yield the 'failure' scores. Experimental results show that the failure score can indeed be learned and predicted. Thus, our prediction method is able to improve the overall safety of an automated driving model by alerting the human driver timely, leading to better human-vehicle collaborative driving.