Ford Autonomous Vehicles, LLC, USA-Sarah E. Houts, Robert Cammarata, Graham Mills, Siddharth Agarwal, Ankit Vora
Ford Motor Company, USA-Tyler G.R. Reid, Gaurav Pandey
by SAE International in United States
Autonomous vehicles require precise knowledge of their position and orientation in all weather and traffic conditions for path planning, perception, control, and general safe operation. Here we derive these requirements for autonomous vehicles based on first principles. We begin with the safety integrity level, defining the allowable probability of failure per hour of operation based on desired improvements on road safety today. This draws comparisons with the localization integrity levels required in aviation and rail where similar numbers are derived at 10−8 probability of failure per hour of operation. We then define the geometry of the problem where the aim is to maintain knowledge that the vehicle is within its lane and to determine what road level it is on. Longitudinal, lateral, and vertical localization error bounds (alert limits) and 95% accuracy requirements are derived based on the United States (US) road geometry standards (lane width, curvature, and vertical clearance) and allowable vehicle dimensions. For passenger vehicles operating on freeway roads, the result is a required lateral error bound of 0.57 m (0.20 m, 95%),…
This content contains downloadable datasets
Annotation ability available
A list of downloadable items.
Please Wait. Loading Available Formats...
This modal will allow the user to download citation information or export specific fields of data into one of three file formats: Excel, comma-separated values, or text.
Sorry, this document is already saved to a project folder.
Share this content via social media.
Share Via Email
Email sent successfully!
Use this modal to save a search.
The current search and criteria have already been saved. Please modify your criteria to save as a new search.
Request Sent successfully!
Search Tips: Search Operators:AND, OR, NOT; Wild Cards; Using Quotes
SAE MOBILUS® Search Tips
Please note: All terms not contained within quotes, will be evaluated using the OR operator. This means that your search results will contain all results that contain ANY of the entered terms.
AND, OR, NOT
SAE MOBILUS supports the use of the AND, OR and NOT BOOLEAN operators ONLY function with the Advanced Search.
Using the asterisk, ( * ) allows you to search for a partial word. For example, entering a keyword search of aero* will search for any word beginning with aero.
Using the question mark, ( ? ) allows you to search for a word with a single character wildcard. For example, searching for t?re would match both tire and tyre
Words in double quotes " " are treated as a phrase. Conducting a search for "heat model" will return all results in which the exact phrase "heat model" is found, while "heat modeling" would NOT be included.
A term combined with a phrase will be joined with an OR operator.
Searching for Standards
When searching for a standard please use the entire Document Number assigned, which includes the abbreviation. A space can be used, or omitted between the abbreviation and number.