用行为树架构实现实时安全监管，确保自动驾驶符合国际标准。
Behavior Trees in Functional Safety Supervisors for Autonomous Vehicles
- 基于行为树构建实时安全监督框架，契合ISO 26262标准。
- 在雷诺Mégane（SAE L3级）上验证，实现危险检测与合规响应。
- 适合关注自动驾驶功能安全的工业研发与合规团队。
自动驾驶软件的快速发展带来了提升道路安全的机遇，也引发新算法（如人工智能）在工业车辆中应用时是否符合现有安全规范的担忧。本文提出一种基于行为树的新软件架构，专为实时监督自动驾驶车辆的功能安全而设计，严格遵循ISO 26262标准。该方法能在检测到危险时，自动保障功能与技术安全要求的合规性。研究在雷诺Mégane车型（当前处于SAE L3自动化水平）上实现并验证，不仅确保安全标准合规，也为更安全、可靠的自动驾驶技术发展提供支持。
原文摘要 · Abstract (English)
The rapid advancements in autonomous vehicle software present both opportunities and challenges, especially in enhancing road safety. The primary objective of autonomous vehicles is to reduce accident rates through improved safety measures. However, the integration of new algorithms into the autonomous vehicle, such as Artificial Intelligence methods, raises concerns about the compliance with established safety regulations. This paper introduces a novel software architecture based on behavior trees, aligned with established standards and designed to supervise vehicle functional safety in real time. It specifically addresses the integration of algorithms into industrial road vehicles, adhering to the ISO 26262. The proposed supervision methodology involves the detection of hazards and compliance with functional and technical safety requirements when a hazard arises. This methodology, implemented in this study in a Renault Mégane (currently at SAE level 3 of automation), not only guarantees compliance with safety standards, but also paves the way for safer and more reliable autonomous driving technologies.
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