Fuzzy Interpretation of Operational Design Domains in Autonomous Driving
Aniket Salvi, Gereon Weiß, Mario Trapp, Fabian Oboril, Cornelius Buerkle
Abstract
The evolution towards autonomous driving involves operating safely in open-world environments. For this, autonomous vehicles and their Autonomous Driving System (ADS) are designed and tested for specific, so-called Operational Design Domains (ODDs). When moving from prototypes to real-world mobility solutions, autonomous vehicles, however, will face changing scenarios and operational conditions that they must handle safely. Within this work, we propose a fuzzy-based approach to consider changing operational conditions of autonomous driving based on smaller ODD fragments, called $\mu$ ODDs. By this, an ADS is enabled to smoothly adapt its driving behavior for meeting safety during shifting operational conditions. We evaluate our solution in simulated vehicle following scenarios passing through different $\mu$ ODDs, modeled by weather changes. The results show that our approach is capable of considering operational domain changes without endangering safety and allowing improved utility optimization.