Ride-through for Autonomous Vehicles

Aaron Kane (1) , Philip Koopman (1)

1 CMU - Carnegie Mellon University [Pittsburgh]

Safety critical systems often have shutdown mechanisms to bring the system to a safe state in the event of a malfunction. We ex- amine the use of ride-through, a technique to reduce the frequency of safety shutdowns by allowing small transient violations of safety rules. An illustrative example of enforcing a speed limit for an autonomous vehicle shows that using a rate-limited ride-through bound permits a tighter safety limit on speed than a xed threshold without creating false alarm shutdowns. Adding state machines to select speci c safety bounds based on vehicle state accommodates expected control system transients. Testing these principles on an autonomous utility vehicle resulted in im- proved detection of speed limit violations and shorter shutdown stopping distances without needing to increase the false alarm shutdown rate.

Mots clés: Safety; Embedded systems

Domaines: Systèmes embarqués

Aaron Kane, Philip Koopman. Ride-through for Autonomous Vehicles. SAFECOMP 2013 - Workshop CARS (2nd Workshop on Critical Automotive applications : Robustness & Safety) of the 32nd International Conference on Computer Safety, Reliability and Security, Sep 2013, Toulouse, France. pp.NA. ⟨hal-00848195⟩