The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for designing autonomous vehicle behavior in a way that is safe and guarantees progress for all agents. In this paper, we first introduce a new game paradigm which we term the quasi-simultaneous game. We then define an agent protocol that all agents must use to make decisions in this quasi-simultaneous game setting. According to the protocol, agents first select an intended action using a behavioral profile. Then, the protocol defines whether an agent has precedence to take its intended action or must take a sub-optimal action. The protocol ensures safety under all traffic conditions and liveness for all agents under `sparse' traffic conditions. We provide proofs of correctness of the protocol and validate our results in simulation.
@article{arxiv.2011.14148,
title = {Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles},
author = {Karena X. Cai and Tung Phan-Minh and Soon-Jo Chung and Richard M. Murray},
journal= {arXiv preprint arXiv:2011.14148},
year = {2021}
}