Enhancing RSS to be Fault Tolerant During Overtaking Maneuvers

Safety Models for Autonomous Vehicles often neglect fault tolerance, relying on strong assumptions over vehicles’ actuation, such as Responsibility-Sensitive Safety (RSS), which relies on static notions over vehicle’ actuation. This paper proposes to enhance RSS’s proper responses to support fault tolerance during complex maneuvers, specifically overtaking. The proposed approach is carefully built to comply with the original RSS notion of evasive maneuvers. Thus, it can be applied to enable Fault-Tolerant capabilities without losing its original properties. Moreover, the proposed proper responses are modeled using Signal Temporal Logic to promote the verification of system traces using formal methods.