Highly Automated Driving on Highways Based on Legal Safety

This paper discusses driving system design based on traffic rules. This allows fully automated driving in an en-vironment with human drivers, without necessarily changing equipment on other vehicles or infrastructure. It also facilitates cooperation between the driving system and the host driver dur-ing highly automated driving. The concept, referred to as legal safety, is illustrated for highly automated driving on highways with distance keeping, intelligent speed adaptation, and lane-changing functionalities. Requirements by legal safety on perception and control components are discussed. This paper presents the actual design of a legal safety decision component, which predicts object trajectories and calculates optimal subject trajectories. System implementation on automotive electronic control units and results on vehicle and simulator are discussed.