Risk estimation in autonomous driving environments

A control system for estimating a risk exposure of an automated driving system, ADS, of a vehicle, the control system comprising:

• control circuitry configured to:
• obtain an actuation capability of the vehicle, wherein the obtained actuation capability includes an uncertainty estimation for the actuation capability;
• obtain a location of free-space areas in the surrounding environment of the vehicle, wherein the obtained location of free-space areas comprises an uncertainty estimation for the estimated location of free-space areas;
• form a risk map of the surrounding environment of the vehicle based on the obtained actuation capability and the obtained location of free-space areas, wherein the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle;
• and
• determine a total risk value of the ADS based on the risk parameters of a set of area segments intersected by at least one planned path of the ADS.

A vehicle comprising:

• an Automated Driving System, ADS;
• a perception system comprising at least one sensor configured to monitor a surrounding environment of the vehicle;
• a vehicle control system comprising at least one sensor configured to monitor an actuation capability of the vehicle;
• a localization system configured to monitor a geographical map position of the vehicle;
• a control system for estimating a risk exposure of an automated driving system, ADS, of a vehicle, the control system comprising:
• control circuitry configured to:
• obtain an actuation capability of the vehicle, wherein the obtained actuation capability includes an uncertainty estimation for the actuation capability;
• obtain a location of free-space areas in the surrounding environment of the vehicle, wherein the obtained location of free-space areas comprises an uncertainty estimation for the estimated location of free-space areas;
• form a risk map of the surrounding environment of the vehicle based on the obtained actuation capability and the obtained location of free-space areas, wherein the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle;
• and
• determine a total risk value of the ADS based on the risk parameters of a set of area segments intersected by at least one planned path of the ADS.