Capability-Based Routes for Autonomous Vehicles

The pursuit of vehicle automation is an ongoing trend in the automotive industry. Particularly challenging is the goal of introducing driverless autonomous vehicles (AVs) into road traffic. To realize this vision, a targeted development of autonomous driving functions is essential. However, a targeted development process is only possible if the driving functions are tailored as appropriately and completely as possible to the operational design domain (ODD). Regardless of use case, all AVs have one thing in common: driving at least one route from A to B - whether simple or complex. For operational purposes, it is therefore necessary to ensure that the driving requirements (DRs) of the potential routes within the ODD do not exceed the driving capabilities (DCs) of the AVs. Currently, there is no approach that accomplishes the identification of exceeded capabilities. This work presents a method for route-based specification of DRs and DCs for AVs. It addresses the core research question of how to identify routes with DRs that do not exceed the DCs of AVs. An initial analysis reveals the dependencies between route and DRs. Thereby, the scenery defined in the ODD is found to be a fundamental basis for the specification of behavioral requirements as part of the DRs. In combination with the applicable traffic rules, the scenery elements define the behavioral limits for AVs. These limits are specifically extracted and classified as behavioral demands from the scenery using an analysis of these combinations. To enable a route-based specification of DRs, the behavioral demands are modeled as behavior spaces and transformed into a generic map representation - the Behavior-Semantic Scenery Description (BSSD). Based on the BSSD, a method is developed that generates behavioral requirements based on the route-constrained concatenation of behavior spaces. As a result, in addition to the method itself, the associated behavioral requirements are available as a basis for the route-based specification of DRs and DCs. Constraints for the specification are defined by the developed concept for the matching of DRs and DCs. It is shown that the DRs are strongly dependent on the geometry and property of the scenery elements, so that equal behavioral requirements do not necessarily imply equal DRs. These dependencies are used for the specification enabling the definition of matching criteria for a selection of DRs and corresponding DCs. To realize the matching, a capability-based route search is developed and implemented. The route search incorporates all elaborated results of the work enabling the whole approach to be evaluated by applying it to a real road network. The evaluation shows that the identification of feasible routes for AVs based on the scenery is possible and which hurdles based on identified deficits still have to be overcome