Areas of limited visibility are common in day-to-day traffic: be it static buildings, parked vehicles, traffic participants blocking the vehicle's line of sight, harsh weather conditions or just narrow curves that impede the automated driving sensor suite to inspect the road ahead. Autonomous vehicles have to be able to safely cope with this kind of constraints. The Responsibility-Sensitive Safety model (RSS) demands vehicles to exercise caution with respect to occlusions and to consider also occluded road agents. This paper provides a concrete implementation of how occlusions in RSS can be addressed and investigates the balance between safety and usefulness of the model when a reasonably foreseeable behavior of occluded road agents is assumed. We perform occlusion experiments in urban as well as on highway scenarios with the driving simulation platform CARLA applying different parameterization of the agents kinematic properties and the safety model parameters to analyse and judge the consequences with respect to safe driving and overcautious driving behaviors.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Application of Responsibility-Sensitive Safety in Areas with Limited Visibility: Occlusions in RSS


    Contributors:


    Publication date :

    2023-09-24


    Size :

    1231318 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Tackling Occlusions & Limited Sensor Range with Set-based Safety Verification

    Orzechowski, Piotr F. / Meyer, Annika / Lauer, Martin | IEEE | 2018


    Generating Efficient Behaviour with Predictive Visibility Risk for Scenarios with Occlusions

    Wang, Lingguang / Lopez, Carlos Fetnandez / Stiller, Christoph | IEEE | 2020


    Road traffic incidents involving pedestrians in areas with limited visibility

    Turdibekov Saloxiddin / Isoxanov Utkir / Shermatov Shamshir et al. | DOAJ | 2024

    Free access

    Tracking Appearances with Occlusions

    Wu, Y. / Yu, T. / Hua, G. et al. | British Library Conference Proceedings | 2003


    VULNERABLE ROAD USER SAFETY TECHNOLOGIES BASED ON RESPONSIBILITY SENSITIVE SAFETY

    SHARMA BANJADE VESH RAJ / SIVANESAN KATHIRAVETPILLAI / ALVAREZ IGNACIO J et al. | European Patent Office | 2021

    Free access