Safety rule generation device, navigation system, safety rule generation method, navigation method, and program

A navigation system for an autonomous vehicle, comprising:

• a storage device storing a program, a plurality of scenarios for operating the autonomous vehicle, each scenario of the plurality of scenarios including chained subscenarios in which a control strategy and a goal are associated, and a safety rule obtained by calculating, for each of the subscenarios obtained by dividing each scenario of the plurality of scenarios, a precondition for executing a control strategy while achieving the goal and combining the precondition and the control strategy for each of the subscenarios, wherein:
• if the precondition is satisfied, a safety condition is able to be satisfied by executing the control strategy,
• the control strategy is a measure for controlling the autonomous vehicle and the control strategy includes a driving maneuver, and
• the safety rule is indicated by safety rule information including combined control strategies and preconditions of the subscenarios;
• and
• a processor configured to execute the program to perform a process including:
• acquiring environment information indicating an environment of the autonomous vehicle;
• acquiring, from the storage device, a scenario for achieving a navigation goal input by a user;
• verifying whether or not the scenario acquired by the acquiring the scenario can achieve the navigation goal, based on the safety rule and the environment information;
• and
• outputting the safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios, wherein the safety rule information triggers a vehicle body control of the autonomous vehicle to adjust the driving maneuver including at least one of turning a steering wheel, applying brakes, or accelerating and perform autonomous driving avoiding collisions while achieving the navigation goal corresponding to the safety condition and a predetermined postcondition of the scenario.

A computer-implemented safety rule generation method causing a computer to perform:

• an input procedure receiving an input of scenario information representing a predetermined scenario by chaining subscenarios in which a control strategy and a goal are associated;
• a precondition calculation procedure calculating, for each of the subscenarios, a precondition for executing the control strategy while achieving the goal, wherein if the precondition is satisfied, a safety condition is able to be satisfied by executing the control strategy, and wherein the control strategy is a measure for controlling an autonomous vehicle, the control strategy including a driving maneuver;
• a generation procedure combining control strategies of each of the subscenarios included in the scenario information, combining calculated preconditions and generating safety rule information including the combined control strategies and preconditions;
• and
• an output procedure outputting the safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios, wherein the safety rule information is information indicating the safety rule with respect to the scenario information and triggers a vehicle body control of the autonomous vehicle to adjust the driving maneuver including at least one of turning a steering wheel, applying brakes, or accelerating and perform autonomous driving avoiding collisions while achieving a navigation goal corresponding to the safety condition and a predetermined postcondition of the scenario.

A non-transitory computer-readable storage medium having stored therein a program which, when executed by a computer, causes the computer to perform a process including:

• receiving an input of scenario information representing a predetermined scenario by chaining subscenarios in which a control strategy and a goal are associated;
• calculating, for each of the subscenarios, a precondition for executing the control strategy while achieving the goal, wherein if the precondition is satisfied, a safety condition is able to be satisfied by executing the control strategy, and wherein the control strategy is a measure for controlling an autonomous vehicle, and the control strategy includes a driving maneuver;
• combining control strategies of each of the subscenarios included in the scenario information, combining calculated preconditions and generating safety rule information including the combined control strategies and preconditions;
• and
• outputting the safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios, wherein the safety rule information is information indicating the safety rule with respect to the scenario information and triggers a vehicle body control of the autonomous vehicle to adjust the driving maneuver including at least one of turning a steering wheel, applying brakes, or accelerating and perform autonomous driving avoiding collisions while achieving a navigation goal corresponding to the safety condition and a predetermined postcondition of the scenario.

A navigation system for an autonomous vehicle, comprising:

• a storage device storing a program, a scenario for operating the autonomous vehicle, the scenario including chained subscenarios in which a control strategy and a goal are associated, and a safety rule obtained by calculating, for each of the subscenarios obtained by dividing the scenario, a precondition for executing the control strategy while achieving the goal and combining the precondition and the control strategy for each of the subscenarios, wherein:
• if the precondition is satisfied, a safety condition is able to be satisfied by executing the control strategy,
• the control strategy is a measure for controlling the autonomous vehicle and the control strategy includes a driving maneuver, and
• the safety rule is indicated by safety rule information including combined control strategies and preconditions of the subscenarios;
• and
• a processor configured to execute the program to perform a process including:
• acquiring environment information indicating an environment of the autonomous vehicle;
• determining a navigation operation for achieving a navigation goal, based on the scenario and the environment information;
• verifying whether or not the control strategy corresponding to the navigation operation can achieve the navigation goal, based on the safety rule and the environment information;
• and
• outputting the safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios, wherein the safety rule information triggers a vehicle body control of the autonomous vehicle to adjust the driving maneuver including at least one of turning a steering wheel, applying brakes, or accelerating and perform autonomous driving avoiding collisions while achieving the navigation goal corresponding to the safety condition and a predetermined postcondition of the scenario.

A computer-implemented navigation method for an autonomous vehicle, wherein a scenario for operating the autonomous vehicle, the scenario including chained subscenarios in which a control strategy and a goal are associated, and a safety rule obtained by calculating, for each of the subscenarios obtained by dividing the scenario, a precondition for executing the control strategy while achieving the goal and combining the precondition and the control strategy for each of the subscenarios are stored in a storage device, wherein:

• if the precondition is satisfied, a safety condition is able to be satisfied by executing the control strategy,
• the control strategy is a measure for controlling the autonomous vehicle and the control strategy includes a driving maneuver, and
• the safety rule is indicated by safety rule information including combined control strategies and preconditions of the subscenarios;
• and the navigation method causes a computer to perform:
• an environment acquisition procedure acquiring environment information indicating an environment of the autonomous vehicle;
• an operation determination procedure determining a navigation operation for achieving a navigation goal, based on the scenario and the environment information;
• an operation verification procedure verifying whether or not the control strategy corresponding to the navigation operation can achieve the navigation goal, based on the safety rule and the environment information;
• and
• an output procedure outputting the safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios, wherein the safety rule information triggers a vehicle body control of the autonomous vehicle to adjust the driving maneuver including at least one of turning a steering wheel, applying brakes, or accelerating and perform autonomous driving avoiding collisions while achieving the navigation goal corresponding to the safety condition and a predetermined postcondition of the scenario.

A computer-implemented navigation method for an autonomous vehicle, wherein a plurality of scenarios for operating the autonomous vehicle, each scenario of the plurality of scenarios including chained subscenarios in which a control strategy and a goal are associated, and a safety rule obtained by calculating, for each of the subscenarios obtained by dividing each scenario of the plurality of scenarios, a precondition for executing the control strategy while achieving the goal and combining the precondition and the control strategy for each of the subscenarios are stored in a storage device, wherein:

• if the precondition is satisfied, a safety condition is able to be satisfied by executing the control strategy,
• the control strategy is a measure for controlling the autonomous vehicle and the control strategy includes a driving maneuver, and
• the safety rule is indicated by safety rule information including combined control strategies and preconditions of the subscenarios,
• and the navigation method causes a computer to perform:
• an environment acquisition procedure acquiring environment information indicating an environment of the autonomous vehicle;
• a scenario acquisition procedure acquiring the scenario for achieving a navigation goal input by a user;
• a scenario verification procedure verifying whether or not the scenario acquired in the scenario acquisition procedure can achieve the navigation goal, based on the safety rule and the environment information;
• and
• an output procedure outputting the safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios, wherein the safety rule information triggers a vehicle body control of the autonomous vehicle to adjust the driving maneuver including at least one of turning a steering wheel, applying brakes, or accelerating and perform autonomous driving avoiding collisions while achieving the navigation goal corresponding to the safety condition and a predetermined postcondition of the scenario.

A non-transitory computer-readable storage medium having stored therein a program for an autonomous vehicle, wherein a scenario for operating the autonomous vehicle, the scenario including chained subscenarios in which a control strategy and a goal are associated, and a safety rule obtained by calculating, for each of the subscenarios obtained by dividing the scenario, a precondition for executing the control strategy while achieving the goal and combining the precondition and the control strategy for each of the subscenarios are stored in a storage device, wherein:

• if the precondition is satisfied, a safety condition is able to be satisfied by executing the control strategy,
• the control strategy is a measure for controlling the autonomous vehicle and the control strategy includes a driving maneuver, and
• the safety rule is indicated by safety rule information including combined control strategies and preconditions of the subscenarios,
• and the program which, when executed by a computer, causes the computer to perform a process including:
• acquiring environment information indicating an environment of the autonomous vehicle;
• determining a navigation operation for achieving a navigation goal, based on the scenario stored in the storage device and the environment information;
• verifying whether or not the control strategy corresponding to the navigation operation can achieve the navigation goal, based on the safety rule stored in the storage device and the environment information;
• and
• outputting the safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios, wherein the safety rule information triggers a vehicle body control of the autonomous vehicle to adjust the driving maneuver including at least one of turning a steering wheel, applying brakes, or accelerating and perform autonomous driving avoiding collisions while achieving the navigation goal corresponding to the safety condition and a predetermined postcondition of the scenario.

A non-transitory computer-readable storage medium having stored therein a program for an autonomous vehicle, wherein a plurality of scenarios for operating the autonomous vehicle, each scenario of the plurality of scenarios including chained subscenarios in which a control strategy and a goal are associated, and a safety rule obtained by calculating, for each of the subscenarios obtained by dividing each scenario of the plurality of scenarios, a precondition for executing a control strategy while achieving the goal and combining the precondition and the control strategy for each of the subscenarios are stored in a storage device, wherein:

• if the precondition is satisfied, a safety condition is able to be satisfied by executing the control strategy,
• the control strategy is a measure for controlling the autonomous vehicle and the control strategy includes a driving maneuver, and
• the safety rule is indicated by safety rule information including combined control strategies and preconditions of the subscenarios,
• and the program which, when executed by a computer, causes the computer to perform a process including:
• acquiring environment information indicating an environment of the autonomous vehicle;
• acquiring the scenario for achieving a navigation goal input by a user;
• verifying whether or not the scenario acquired by the acquiring the scenario can achieve the navigation goal, based on the safety rule and the environment information;
• and
• outputting the safety rule information obtained by combining the precondition and the control strategy for each of the subscenarios, wherein the safety rule information triggers a vehicle body control of the autonomous vehicle to adjust the driving maneuver including at least one of turning a steering wheel, applying brakes, or accelerating and perform autonomous driving avoiding collisions while achieving the navigation goal corresponding to the safety condition and a predetermined postcondition of the scenario.