Methods for systems for making decisions in automated driving systems

A system for planning a driving task for an automated driving system, ADS, of a vehicle, the system comprising one or more processors and one or more memory storage areas comprising program code, the one or more memory storage areas and the program code being configured to, with the one or more processors, cause the system to at least:

• obtain perception data indicative of a current state of the surrounding environment of the vehicle from a perception system of the vehicle;
• obtain a current state of the vehicle, the current state of the vehicle comprising a current pose of the vehicle and a current velocity of the vehicle;
• predict a future state of the vehicle at a future point in time based on the current state of the vehicle, the current state of the surrounding environment, and a manoeuvring plan for executing an upcoming driving task in accordance with a first driving policy out of a set of driving policies;
• predict a future state of the surrounding environment at the future point in time based on the current state of the surrounding environment, a set of static assumptions of the surrounding environment, and a set of dynamic assumptions of the surrounding environment;
• determine a threshold velocity for the vehicle for the upcoming driving task for the ADS based on the current state of the vehicle, the current state of the surrounding environment, the predicted future state of the vehicle at the future point in time, and the predicted future state of the environment at the future point in time;
• verify a validity of the set of dynamic assumptions used to predict the future state of the surrounding environment based on historical perception data from the perception system of the vehicle and/or based on information received from a remote server;
• wherein each dynamic assumption of the set of dynamic assumptions is assigned a score based on the verification, the assigned score of a dynamic assumption indicating the validity of that dynamic assumption;
• and
• control the vehicle so to execute the upcoming driving task in accordance with a driving policy that is selected out of the set of driving policies, wherein the driving policy for executing the upcoming driving task is selected in dependence of a current velocity of the vehicle in relation to the determined threshold velocity and in dependence of the validity of the set of dynamic assumptions.