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Taxonomy of Scenarios for Automated Driving Technical Report

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Taxonomy of Scenarios for Automated Driving Technical Report Taxonomy of Scenarios for Automated Driving Technical Report April 2017 Contents v1.2 Contents Contents .................................................................................................................................1 Release Conditions ................................................................................................................ 3 Disclaimer ............................................................................................................................. 3 Acronym List ......................................................................................................................... 4 1 Introduction .................................................................................................................... 6 1.1 Overview............................................................................................................................................... 6 1.2 Approach .............................................................................................................................................. 6 1.3 Report Structure .................................................................................................................................. 8 2 Background Research ..................................................................................................... 9 2.1 Relevant TSC Studies .......................................................................................................................... 9 2.2 The Highway Code ............................................................................................................................. 10 2.3 Examples of Automated Driving Taxonomy Exercises .................................................................... 11 2.4 Stakeholder Engagement ................................................................................................................... 12 2.5 Mind the Safety Gap ........................................................................................................................... 12 2.6 Automation vs. Autonomy ................................................................................................................. 18 3 Initial List of Challenging Driving Scenarios ................................................................. 20 4 Goal Structuring Notation ............................................................................................. 23 4.1 Introduction ....................................................................................................................................... 23 4.2 Goal Structuring Notation Concepts and Terminology ................................................................... 23 4.3 Using the GSN to Define a Safe and Working System ..................................................................... 27 4.4 Tolerance of Risk ............................................................................................................................... 29 5 GSN Outputs – ‘Highway Pilot’ Use Case ....................................................................... 32 5.1 Introduction ....................................................................................................................................... 32 5.2 Overview............................................................................................................................................. 32 5.3 Lane Re-allocations (HP1) ................................................................................................................ 35 5.4 Road Etiquette (HP2) ........................................................................................................................ 38 5.5 Lane Rerouting (HP3) ........................................................................................................................ 41 5.6 Adverse Weather (HP4) .................................................................................................................... 43 5.7 Sudden Mechanical Failure (HP5) ................................................................................................... 45 5.8 Intervention (HP6) ............................................................................................................................ 47 5.9 Operational Envelope (HP7) ............................................................................................................. 49 5.10 Obstructions (HP8) ............................................................................................................................ 51 6 GSN Discussion of Outputs – ‘Urban Pilot’ Use Case ..................................................... 54 6.1 Introduction ....................................................................................................................................... 54 Copyright © Transport Systems Catapult 2017 1 Contents v1.2 6.2 Overview............................................................................................................................................. 54 6.3 Road Etiquette (UP2) .........................................................................................................................57 6.4 Operational Envelope (UP7) ............................................................................................................. 65 6.5 Junctions and Level Crossings (UP9)............................................................................................... 66 6.6 Pedestrian Crossing Arbitration (UP10) .......................................................................................... 69 6.7 Overtaking (UP11) .............................................................................................................................. 77 6.8 Antisocial Behaviour (UP12) ............................................................................................................. 82 7 Summary and Concluding Thoughts ............................................................................. 90 7.1 General ............................................................................................................................................... 90 7.2 Roads and Regulation ....................................................................................................................... 90 7.3 Vehicles and Technology ................................................................................................................... 90 7.4 Standards, Ethics, and Safety Case .................................................................................................... 91 Copyright © Transport Systems Catapult 2017 2 Release Conditions v1.2 Release Conditions THIS DOCUMENT AND THE INFORMATION IN IT ARE PROVIDED IN CONFIDENCE, FOR THE SOLE PURPOSE OF USE BY THE TRANSPORT SYSTEMS CATAPULT, AND MAY NOT BE DISCLOSED TO ANY THIRD PARTY OR USED FOR ANY OTHER PURPOSE WITHOUT THE EXPRESS WRITTEN PERMISSION OF THE TRANSPORT SYSTEMS CATAPULT, NOT TO BE UNREASONABLY WITHHELD. Disclaimer This report has been produced by the Transport Systems Catapult under a grant from the Innovate UK. Any views expressed in this report are not necessarily those of the Department for Transport or the Centre of Connected and Autonomous Vehicles. Copyright © Transport Systems Catapult 2017 3 Acronym List v1.2 Acronym List ABS Antilock Braking System ACARP As Confident As Reasonably Practicable ACC Adaptive Cruise Control ADAS Advanced Driver Assistance Systems A.I. Artificial Intelligence ALARA As Low As Reasonably Achievable ALARP As Low As Reasonably Practicable ALR All Lane Running AMOR Asset Maintenance and Operational Requirements ANPR Auto Number Plate (licence plate) Recognition APS Assisted Parking System ASIC Application-Specific Integrated Circuit ASIL Automotive Safety Integrity Level AV Automated Vehicle BCR Benefit-cost-ratio CAA Civil Aviation Authority CAV Connected and Automated vehicle CFMEA Concept Failure Modes and Effects Analysis CIHT Chartered Institution of Highways and Transportation CMOS Complementary Metal-Oxide Semiconductor CNN Convolution Neural Networks DFMEA Design Failure Modes and Effects Analysis DfT Department for Transport DMRB Design Manual for Roads and Bridges DSRC Dedicated Short-Range Communications DSIWG Data Safety Initiative Working Group DSP Digital Signal Processors DVSA Driver and Vehicle Standards Agency ECAP European Car Assessment Programme EGNOS European Geostationary Navigation Overlay Service Ego Vehicle The vehicle under consideration EPAS Electronic Power Assisted Steering ERAP European Road Assessment Programme ERF European Road Federation ESC Electronic Stability Control EU European Union EV Electric Vehicles FMEA Failure Modes and Effects Analysis (FMEA) FoV Field of View FPGA Field-Programmable Gate Array FRAM Functional Resonance Analysis Method FTA Fault Tree Analysis Copyright © Transport Systems Catapult 2017 4 v1.2 GPU Graphical Processing Unit GSN Goal Structuring Notation GNSS Global Navigation Satellite System HAZOP Hazard and operability study HiL Hardware in the Loop HMI Human Machine Interface I2V Infrastructure to Vehicle LDM Local Dynamic Maps LDW Lane Departure Warning LKA Lane Keep Assist Parc Total number of vehicles in the country QoS Quality of Service SFAIRP So Far As Is Reasonably Practicable SiL Software in the Loop SoC System on Chips SOTIF Safety of the Intended Functionality SRD Systems Requirement Document STPA Systems-Theoretic Process Analysis TSR Traffic
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