ad-rss

python binding of the C++ Library implementation of the Responsibility Sensitive Safety model

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ad-rss intends to provide a python binding of the C++ implementation of the Responsibility Sensitive Safety model (RSS) for Automated Vehicles. RSS is described in the following paper. Potential users of this C++ library are encouraged to read these papers in order to become familiar with the concepts and functions provided by the library. On a Formal Model of Safe and Scalable Self-driving Cars, S. Shalev-Shwartz, S. Shammah, A. Shashua, Mobileye, arXiv:1708.06374, https://arxiv.org/abs/1708.06374 The RSS module in this library receives (processed) sensor information as input and provides a proper response including actuator command restrictions as output. The input to the RSS module is an object list, with information about all objects (road agents) in the surrounding environment of the ego vehicle. For each object, the RSS module creates a description of the object-ego vehicle pair and their properties, called a constellation. For each constellation, the relevant RSS safety checks are performed and a proper response is calculated. Finally, one overall response is obtained by combining the responses calculated for each object-ego vehicle constellation. The proper response provided as output also contains the resulting actuation command restrictions, in the form of longitudinal and lateral limits on acceleration. ad-rss contains a stand-alone implementation of the RSS module. Conversion of AV sensor data to the input object list required by the RSS module is outside the scope of the ad-rss library. This includes conversion of object location and motion in a Cartesian world coordinate system into a constellation based coordinate system. Conversion of the output proper response and acceleration restrictions to real AV actuation commands (enforcing the restrictions) is outside the scope of this library. This conversion depends strongly on the software and hardware setup of the actual (or simulated) vehicle. See project webpage for a detailed description.

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5.0.0

Jul 9, 2025

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