论文标题
安全自动驾驶堆栈系统级设计的观点
Perspectives on the System-level Design of a Safe Autonomous Driving Stack
论文作者
论文摘要
实现安全，强大的自治是通往更广泛采用自动驾驶汽车技术的道路的关键瓶颈。这激发了超越外在指标，例如脱离接触之间的里程，并呼吁通过设计体现安全的方法。在本文中，我们解决了这一挑战的某些方面，重点是运动计划和预测问题。我们通过描述在自动驾驶堆栈中解决选定的子问题所采取的新方法的描述，在此过程中引入了五个之内采用的设计理念。这包括安全的设计计划，可解释和可验证的预测以及对感知错误的建模，以在现实的自主系统的测试管道中实现有效的SIM到现实和真实的SIM转移。
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 driving 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.
