为自动驾驶避障系统设计安全验证方法，提升避险时的损失控制能力。
Safety Verification for Evasive Collision Avoidance in Autonomous Vehicles with Enhanced Resolutions
- 借鉴专业司机的激进但稳定操作，优化避障策略。
- 提出新型损失评估方法，量化避险动作对事故严重性的缓解效果。
- 适用于高阶自动驾驶系统安全验证，尤其关注行人等弱势道路使用者。
本文针对自主车辆的规避最小风险机动（EMRM）系统，开展全面的危害分析、风险评估与损失评价。该系统受专业驾驶员激进但稳定的驾驶行为启发，旨在增强碰撞规避能力并减轻事故损失严重性。随着自动驾驶技术进步，车辆具备更高性能的机动能力。本文建立系统的安全验证流程，明确安全目标以强化测试有效性。通过系统识别潜在危害，评估其对整体安全及弱势道路使用者的影响。提出一种新的损失评价方法，聚焦缓解动作对事故严重程度的改善作用。所提出的缓解完整性等级可用于验证最小风险机动功能。本研究将验证方法应用于避让机动，推动更可靠的主动安全功能在自动驾驶系统中的发展。
原文摘要 · Abstract (English)
This paper presents a comprehensive hazard analysis, risk assessment, and loss evaluation for an Evasive Minimum Risk Maneuvering (EMRM) system designed for autonomous vehicles. The EMRM system is engineered to enhance collision avoidance and mitigate loss severity by drawing inspiration from professional drivers who perform aggressive maneuvers while maintaining stability for effective risk mitigation. Recent advancements in autonomous vehicle technology demonstrate a growing capability for high-performance maneuvers. This paper discusses a comprehensive safety verification process and establishes a clear safety goal to enhance testing validation. The study systematically identifies potential hazards and assesses their risks to overall safety and the protection of vulnerable road users. A novel loss evaluation approach is introduced, focusing on the impact of mitigation maneuvers on loss severity. Additionally, the proposed mitigation integrity level can be used to verify the minimum-risk maneuver feature. This paper applies a verification method to evasive maneuvering, contributing to the development of more reliable active safety features in autonomous driving systems.
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