European Commission Joint Research Centre, Ispra, Ispra, Italy.
European Commission Joint Research Centre, Ispra, Ispra, Italy.
Accid Anal Prev. 2022 Sep;174:106743. doi: 10.1016/j.aap.2022.106743. Epub 2022 Jun 11.
UN Regulation 157, the first global regulation regarding the type-approval of Automated Driving Systems (ADS), has been adopted in 2021. In it, safety performance requirements are being defined for vehicles of automation Level 3, according to the SAE J3016, with a limited Operational Design Domain (ODD). In particular, for three types of events that are related to motorway driving, two models are provided to distinguish between preventable traffic scenarios, for which the ADS is expected to avoid an accident, and unpreventable traffic scenarios, for which accidents cannot be avoided and the ADS can only mitigate their severity. The models recreate the short-term behavior of a driver who reacts to an emergency. Two possible actions are predicted: either no reaction or full braking when danger is identified. In the present paper the two models are analyzed and compared with two additional models: an industry proposed model, the Responsibility Sensitive Safety framework (RSS), and the Fuzzy Safety Model (FSM) proposed by the authors. As in the case of the two regulation models, also the RSS, although more sophisticated, assumes that the possible reaction by the driver is binary. This approach neglects the ability of a human driver to drive defensively and anticipate possible risks. Defensive drivers, indeed, may use comfortable decelerations in anticipation, to avoid finding themselves in an emergency situation. The FSM uses fuzzy logic to mimic this behavior. Results show that anticipation plays a very important role to reduce the number of unpreventable traffic scenarios. In addition, by validating the classification capabilities of the four models with real traffic data, the FSM proved to be the most suitable of the investigated models. On the basis of these results, the FSM has been included in the proposal for amending UN Regulation 157, thus allowing to set higher safety standards for the first automated vehicles that will be introduced into the market.
联合国法规 157 是全球首个关于自动驾驶系统（ADS）型式认证的法规，于 2021 年通过。根据 SAE J3016，该法规为具有有限运行设计域（ODD）的自动化级别 3 的车辆定义了安全性能要求。特别是，对于与高速公路驾驶相关的三种类型的事件，提供了两种模型来区分可预防的交通场景和不可预防的交通场景。对于可预防的交通场景，ADS 预计可以避免事故；对于不可预防的交通场景，事故无法避免，ADS 只能减轻其严重程度。这些模型再现了驾驶员对紧急情况做出反应的短期行为。预测了两种可能的操作：识别到危险时要么不反应，要么全力制动。在本文中，分析并比较了这两种模型以及另外两种模型：一种是行业提出的模型，即责任敏感安全框架（RSS），另一种是作者提出的模糊安全模型（FSM）。与两种法规模型一样，尽管 RSS 更加复杂，但它也假设驾驶员的可能反应是二元的。这种方法忽略了人类驾驶员防御性驾驶和预测可能风险的能力。实际上，防御性驾驶员可能会提前进行舒适的减速，以避免自己处于紧急情况。FSM 使用模糊逻辑来模拟这种行为。结果表明，预测对于减少不可预防的交通场景数量起着非常重要的作用。此外，通过使用真实交通数据验证了这四种模型的分类能力，FSM 被证明是最适合的模型。基于这些结果，FSM 已被纳入对联合国法规 157 的修订提案中，从而为即将推向市场的第一批自动驾驶汽车设定了更高的安全标准。
