We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement -- in addition to collision avoidance as in the original RSS -- requires complex planning over long sequences of manoeuvres. To deal with the complexity, we introduce a compositional reasoning framework based on program logic, in which one can systematically develop RSS rules for smaller subscenarios and combine them to obtain RSS rules for bigger scenarios. As the basis of the framework, we introduce a program logic dFHL that accommodates continuous dynamics and safety conditions. Our framework presents a dFHL-based workflow for deriving goal-aware RSS rules; we discuss its software support, too. We conducted experimental evaluation using RSS rules in a safety architecture. Its results show that goal-aware RSS is indeed effective in realising both collision avoidance and goal achievement.

翻译：我们引入了对责任敏感的安全(RSS)的客观认知扩展,这是基于规则的自动驾驶系统安全保障(ADS)的最新方法。 使RSS规则保证实现目标 -- -- 除了像原来的RSS那样避免碰撞之外 -- -- 还需要对长期的动作顺序进行复杂的规划。为了应对复杂性,我们引入了一个基于程序逻辑的构成推理框架,在这个框架中,人们可以系统制定对较小子假设的RSS规则,并将这些规则结合起来,以获得对更大情景的RSS规则。作为框架的基础,我们引入了一个程序逻辑dFHL,以适应连续的动态和安全条件。我们的框架为产生符合目标的RSS规则提供了基于dFHL的工作流程;我们也讨论了其软件支持。我们在安全架构中利用RSS规则进行了实验性评估,其结果表明,目标识别RSS对于实现避免碰撞和实现目标确实有效。