Perspectives on the System-level Design of a Safe Autonomous Driving Stack [article]

Majd Hawasly, Jonathan Sadeghi, Morris Antonello, Stefano V. Albrecht, John Redford, Subramanian Ramamoorthy
2022 arXiv   pre-print
Achieving safe and robust autonomy is the key bottleneck on the path towards broader adoption of autonomous vehicles technology. This motivates going beyond extrinsic metrics such as miles between disengagement, and calls for approaches that embody safety by design. In this paper, we address some aspects of this challenge, with emphasis on issues of motion planning and prediction. We do this through description of novel approaches taken to solving selected sub-problems within an autonomous
more » ... ng stack, in the process introducing the design philosophy being adopted within Five. This includes safe-by-design planning, interpretable as well as verifiable prediction, and modelling of perception errors to enable effective sim-to-real and real-to-sim transfer within the testing pipeline of a realistic autonomous system.
arXiv:2208.00096v1 fatcat:77uolkow6fcptijbf2v6v43hia