Challenges in Architecting Fully Automated Driving; with an Emphasis on Heavy Commercial Vehicles

N. Mohan, Martin Törngren, V. Izosimov, Viktor Kaznov, Per Roos, J. Svahn, J. Gustavsson, Damir Nesic
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引用次数: 7

Abstract

Fully automated vehicles will require new functionalities for perception, navigation and decision making -- an Autonomous Driving Intelligence (ADI). We consider architectural cases for such functionalities and investigate how they integrate with legacy platforms. The cases range from a robot replacing the driver -- with entire reuse of existing vehicle platforms, to a clean-slate design. Focusing on Heavy Commercial Vehicles (HCVs), we assess these cases from the perspectives of business, safety, dependability, verification, and realization. The original contributions of this paper are the classification of the architectural cases themselves and the analysis that follows. The analysis reveals that although full reuse of vehicle platforms is appealing, it will require explicitly dealing with the accidental complexity of the legacy platforms, including adding corresponding diagnostics and error handling to the ADI. The current fail-safe design of the platform will also tend to limit availability. Allowing changes to the platforms, will enable more optimized designs and fault-operational behaviour, but will require initial higher development cost and specific emphasis on partitioning and control to limit the influences of safety requirements. For all cases, the design and verification of the ADI will pose a grand challenge and relate to the evolution of the regulatory framework including safety standards.
构建全自动驾驶系统面临的挑战重点是重型商用车
全自动驾驶汽车将需要新的感知、导航和决策功能,即自动驾驶智能(ADI)。我们考虑这些功能的架构案例,并研究它们如何与遗留平台集成。这些案例从机器人取代司机——完全重用现有的车辆平台,到全新的设计。以重型商用车(hcv)为例,从商业、安全、可靠性、验证和实现等方面对这些案例进行了评估。本文的原始贡献是对架构案例本身的分类以及随后的分析。分析显示,尽管车辆平台的完全重用很有吸引力,但它需要明确地处理遗留平台的意外复杂性,包括向ADI添加相应的诊断和错误处理。目前平台的故障安全设计也会限制可用性。允许对平台进行更改,将实现更优化的设计和故障操作行为,但将需要更高的初始开发成本,并特别强调分区和控制,以限制安全要求的影响。在所有情况下,ADI的设计和验证将构成一个巨大的挑战,并涉及到包括安全标准在内的监管框架的演变。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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