This paper studies runtime safety for autonomous driving when high-level driving commands become faulty or unreliable. Unlike conventional runtime-safety approaches that mainly focus on immediate vehicle safety, the proposed framework evaluates both driving safety and whether the vehicle can still successfully complete its mission before a command is executed. The framework extends highway-env with mission-level fault scenarios such as skipping required checkpoints, entering restricted areas, and generating future routes that can no longer complete the mission successfully. A runtime monitoring system is introduced to detect and reject unsafe or mission-infeasible commands before execution. For comparison, an adapted Simplex-Drive runtime-safety baseline with learning-based driving control, safety fallback control, and runtime controller switching is implemented using the public Simplex-Drive framework. Experimental results show that platform-level runtime safety alone cannot detect mission-level planning faults, while the proposed framework successfully rejects mission-infeasible commands and improves mission success under randomized fault conditions.

翻译：本文研究当高层驾驶指令出现故障或不可靠时，自动驾驶系统的运行时安全。与主要关注即时车辆安全的传统运行时安全方法不同，所提出的框架在执行指令前同时评估驾驶安全性以及车辆是否仍能成功完成其使命。该框架通过引入使命级故障场景扩展了highway-env，例如跳过必要检查点、进入限制区域以及生成无法再成功完成使命的未来路径。本文引入了一种运行时监控系统，在执行前检测并拒绝不安全或不可行的指令。为进行对比，基于公开的Simplex-Drive框架，实现了一种采用学习型驾驶控制、安全回退控制及运行时控制器切换的适配版Simplex-Drive运行时安全基线。实验结果表明，仅凭平台级运行时安全无法检测使命级规划故障，而所提出的框架能成功拒绝不可行的指令，并在随机故障条件下提升使命成功率。