Maneuver-based Adaptive Safety Zone for Infrastructure-Supported Automated Valet Parking

Abstract

One of the major challenges for the release of fully automated driving is the design of safe vehicle automation systems. This work presents a structure to determine a maneuver-specific and adaptive safety zone for collision avoidance. For this, the overall automated driving system is split into functional scenarios that occur during the driving task in the operational design domain. Maneuvers are derived from the given scenarios and car park layouts. Minimum safety distances are determined by injecting worst-case parameters into derived maneuvers. The superposition of these safety distances leads to a new term: the safety zone. The safety zone adapts its size according to the performed maneuver as well as the dynamic driving parameters of the engaged traffic participants such as velocities, timing constraints and deceleration capabilities. The methodology is applied on the example of cooperative automated valet parking (AVP).