论文标题
道路规则：安全性和livesice保证自动驾驶汽车
Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles
论文作者
论文摘要
确保所有车辆安全和进步的能力对于自动驾驶汽车行业的成功至关重要。我们提出了一个以安全的方式设计自动驾驶汽车行为的框架，并保证所有代理商的进步。在本文中，我们首先引入了一个新的游戏范式，我们将其称为准简单游戏。然后，我们定义一个代理协议，所有代理都必须使用该协议来在此准模拟游戏设置中做出决策。根据协议，代理首先使用行为配置文件选择预期的动作。然后，该协议定义了代理是否有优先采取其预期的诉讼或必须采取次优措施。该协议可确保在所有交通状况和“稀疏”交通状况下所有代理商的安全性。我们提供了协议正确性的证明，并在模拟中验证我们的结果。
The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for designing autonomous vehicle behavior in a way that is safe and guarantees progress for all agents. In this paper, we first introduce a new game paradigm which we term the quasi-simultaneous game. We then define an agent protocol that all agents must use to make decisions in this quasi-simultaneous game setting. According to the protocol, agents first select an intended action using a behavioral profile. Then, the protocol defines whether an agent has precedence to take its intended action or must take a sub-optimal action. The protocol ensures safety under all traffic conditions and liveness for all agents under `sparse' traffic conditions. We provide proofs of correctness of the protocol and validate our results in simulation.
