A Risk-Aware Architecture for Autonomous Vehicle Operation under Uncertainty

Majid Khonji, Jorge Dias, Rashid Alyassi, Fahad Almaskari, Lakmal Seneviratne

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate, such as road and weather conditions, errors in perception and sensory data, and model inaccuracy. This paper proposes a system architecture for risk-aware AVs capable of reasoning about uncertainty and deliberately bounding collision risk below a given threshold. The system comprises of three main subsystems. First, a perception subsystem that detects objects within a scene and quantifies the uncertainty arising from different sensing and communication modalities. Second, an intention recognition subsystem that predicts the driving-style and the intention of agent vehicles and pedestrians. Third, a planning subsystem that takes into account the aggregate uncertainty, from perception, intention recognition, and tracking error, and outputs control policies that explicitly bound the probability of collision. We deliberate further on the planner and show, in simulation, that tuning a risk parameter can significantly alter driving behavior. We believe that such a white-box approach is crucial for safe and explainable autonomous driving and the public adoption of AVs.

Original languageBritish English
Title of host publication2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020
EditorsLino Marques, Majid Khonji, Jorge Dias
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages311-317
Number of pages7
ISBN (Electronic)9781665403900
DOIs
StatePublished - 4 Nov 2020
Event2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020 - Abu Dhabi, United Arab Emirates
Duration: 4 Nov 20206 Nov 2020

Publication series

Name2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020

Conference

Conference2020 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2020
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period4/11/206/11/20

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