This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Sensitivity of Automated Vehicle Operational Safety Assessment (OSA) Metrics to Measurement and Parameter Uncertainty
Technical Paper
2022-01-0815
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
As the deployment of automated vehicles (AVs) on public roadways expands, there is growing interest in establishing metrics that can be used to evaluate vehicle operational safety. The set of Operational Safety Assessment (OSA) metrics, that include several safety envelope-type metrics, previously proposed by the Institute of Automated Mobility (IAM) are a step towards this goal. The safety envelope OSA metrics can be computed using kinematics derived from video data captured by infrastructure-based cameras and thus do not require on-board sensor data or vehicle-to-infrastructure (V2I) connectivity, though either of the latter data sources could enhance kinematic data accuracy. However, the calculation of some metrics includes certain vehicle-specific parameters that must be assumed or estimated if they are not known a priori or communicated directly by the vehicle. Uncertainty and errors in kinematic measurements and assumed parameters can influence the accuracy and ultimately the utility of the safety envelope metrics.
This paper investigates how sensitive the OSA safety envelope metrics are to errors and variations in measured and assumed variables, respectively. The metrics are introduced in the context of a car-following scenario, and data sources are discussed, though the sensitivity analyses are ultimately agnostic to the specific sensor modality employed. Results reveal that measurement and parameter uncertainty are especially important when vehicles are close to safety envelope thresholds or in congested driving conditions. The outcomes of this research can help to understand the effects of measurement uncertainty on OSA metrics calculations and inform the selection of suitable sensors and hardware for the accurate and reliable assessment of vehicle operational safety.
Recommended Content
Authors
Citation
Kidambi, N., Wishart, J., Elli, M., and Como, S., "Sensitivity of Automated Vehicle Operational Safety Assessment (OSA) Metrics to Measurement and Parameter Uncertainty," SAE Technical Paper 2022-01-0815, 2022, https://doi.org/10.4271/2022-01-0815.Also In
References
- Wishart , J. , Como , S. , Elli , M. , Russo , B. et al. Driving Safety Performance Assessment Metrics for ADS-Equipped Vehicles SAE Technical Papers 2020-01-1206 2020 2020 1 19 https://doi.org/10.4271/2020-01-1206.
- Elli , M.S. , Wishart , J. , Como , S. , Dhakshinamoorthy , S. et al. Evaluation of Operational Safety Assessment (OSA) Metrics for Automated Vehicles in Simulation SAE Technical Papers 2021-01-0868 2021 https://doi.org/10.4271/2021-01-0868.
- Altekar , N. , Como , S. , Lu , D. , Wishart , J. et al. Infrastructure-Based Sensor Data Capture Systems for Measurement of Operational Safety Assessment (OSA) Metrics SAE Technical Papers 2021-01-0175 2021 1 11 https://doi.org/10.4271/2021-01-0175.
- SAE On-Road Automated Vehicle Standards Committee 2021
- Shalev-Shwartz , S. , Shammah , S. , and Shashua , A. On a Formal Model of Safe and Scalable Self-Driving Cars ArXiv Preprint 2017 1 37
- Mobileye Implementing the RSS Model on NHTSA Pre-Crash Scenarios 2017
- Lu , D. , Jammula , V.C. , Como , S. , Wishart , J. , Chen , Y. , and Yang , Y. CAROM -- Vehicle Localization and Traffic Scene Reconstruction from Monocular Cameras on Road Infrastructures International Conference on Robotics & Automation 2021
- McManamon , P.F. Introduction to LiDAR LiDAR Technologies and Systems Bellingham, WA SPIE 2019 10.1117/3.2518254 9781510625402
- Makridis , M. , Mattas , K. , Borio , D. , Giuliani , R. et al. Estimating Reaction Time in Adaptive Cruise Control System IEEE Intelligent Vehicles Symposium, Changshu 2018 1312 1317 10.1109/IVS.2018.8500490
- Xu , X. , Wang , X. , Wu , X. , Hassanin , O. , and Chai , C. Calibration and Evaluation of the Responsibility-Sensitive Safety Model of Autonomous Car-Following Maneuvers Using Naturalistic Driving Study Data Transportation Research Part C: Emerging Technologies 123 102988 2021 10.1016/j.trc.2021.102988
- Altekar , N.V. 2021
- Liu , S. , Wang , X. , Hassanin , O. , Xu , X. , Yang , M. , Hurwitz , D. , and Wu , X. Calibration and Evaluation of Responsibility-sensitive Safety (RSS) in Automated Vehicle Performance During Cut-in Scenarios Transportation Research Part C: Emerging Technologies 125 103037 2021 10.1016/j.trc.2021.103037
- Gassmann , B. , Oboril , F. , Buerkle , C. , Liu , S. , Yan , S. , Elli , M.S. , Alvarez , I. , Aerrabotu , N. , Jaber , S. , van Beek , P. , Iyer , D. , and Weast , J. Towards Standardization of AV Safety: C++ Library for Responsibility Sensitive Safety 2019 IEEE Intelligent Vehicles Symposium (IV) 2265 2271 2019 10.1109/IVS.2019.8813885
- NHTSA Why Your Reaction Time Matters at Speed 2015
- IIHS Autonomous Emergency Braking Test Protocol (Version 1) 2013
- Euro , N.C.A.P. Test Protocol - AEB Car-to-Car Systems European New Car Assessment Programme: Protocols v2 3.0.3 2021 1 28
- Horst , R. , Der , V. , and Hogema , J. Time-to-Collision and Collision Avoidance Systems 6th Workshop of the ICTCT Salzburg 1993 1 12 90-6807-293-5
- Zheng , L. and Sayed , T. Comparison of Traffic Conflict Indicators for Crash Estimation Using Peak over Threshold Approach Transportation Research Record 2673 5 2019 493 502 10.1177/0361198119841556
- Ozbay , K. , Yang , H. , Bartin , B. , and Mudigonda , S. Derivation and Validation of New Simulation-Based Surrogate Safety Measure Transportation Research Record 2083 2008 105 113 10.3141/2083-12
- Lee , S.E. , Llaneras , E. , Klauer , S.G. , and Sudweeks , J. Analyses of Rear-End Crashes and Near-Crashes in the 100-Car Naturalistic Driving Study to Support Rear-Signaling Countermeasure Development DOT HS 810 2007 846
- Schoettle , B. Sensor Fusion: a Comparison of Sensing Capabilities of Human Drivers and Highly Automated Vehicles 2017
- Arun , A. , Haque , M.M. , Washington , S. , Sayed , T. et al. A Systematic Review of Traffic Conflict-Based Safety Measures with a Focus on Application Context Analytic Methods in Accident Research 32 2021 100185 10.1016/j.amar.2021.100185