A Quantitative Method to Determine What Collisions Are Reasonably Foreseeable and Preventable

The development of Automated Driving Systems (ADSs) has made significant progress in the last years. To enable the deployment of Automated Vehicles (AVs) equipped with such ADSs, regulations concerning the approval of these systems need to be established. In 2021, the World Forum for Harmonization of Vehicle Regulations has approved a new United Nations regulation concerning the approval of Automated Lane Keeping Systems (ALKSs). An important aspect of this regulation is that "the activated system shall not cause any collisions that are reasonably foreseeable and preventable." The phrasing of "reasonably foreseeable and preventable" might be subjected to different interpretations and, therefore, this might result in disagreements among AV developers and the authorities that are requested to approve AVs. The objective of this work is to propose a method for quantifying what is "reasonably foreseeable and preventable". The proposed method considers the Operational Design Domain (ODD) of the system and can be applied to any ODD. Having a quantitative method for determining what is reasonably foreseeable and preventable provides developers, authorities, and the users of ADSs a better understanding of the residual risks to be expected when deploying these systems in real traffic. Using our proposed method, we can estimate what collisions are reasonably foreseeable and preventable. This will help in setting requirements regarding the safety of ADSs and can lead to stronger justification for design decisions and test coverage for developing ADSs.Comment: 25 pages, 9 figures, 2 table

Scenario Extraction from a Large Real-World Dataset for the Assessment of Automated Vehicles

Many players in the automotive field support scenario-based assessment of automated vehicles (AVs), where individual traffic situations can be tested and, thus, facilitate concluding on the performance of AVs in different situations. Since a large number of different scenarios can occur in real-world traffic, the question is how to find a finite set of relevant scenarios. Scenarios extracted from large real-world datasets represent real-world traffic since real driving data is used. Extracting scenarios, however, is challenging because (1) the scenarios to be tested should assess the AVs behave safely, which conflicts with the fact that the majority of the data contains scenarios that are not interesting from a safety perspective, and (2) extensive data processing is required, which hinders the utilization of large real-world datasets. In this work, we propose an approach for extracting scenarios from real-world driving data. The first step is data preprocessing to tackle the errors and noise in real-world data by reconstructing the data. The second step performs data tagging to label actors' activities, their interactions with each other and the environment. Finally, the scenarios are extracted by searching for combinations of tags. The proposed approach is evaluated using data simulated with CARLA and applied to a part of a large real-world driving dataset, i.e., the Waymo Open Motion Dataset (WOMD). The code and scenarios extracted from WOMD are open to the research community to facilitate the assessment of the automated driving functions in different scenarios.Comment: 6 pages, accepted by ITSC 202

PRISMA: A Novel Approach for Deriving Probabilistic Surrogate Safety Measures for Risk Evaluation

Surrogate Safety Measures (SSMs) are used to express road safety in terms of the safety risk in traffic conflicts. Typically, SSMs rely on assumptions regarding the future evolution of traffic participant trajectories to generate a measure of risk. As a result, they are only applicable in scenarios where those assumptions hold. To address this issue, we present a novel data-driven Probabilistic RISk Measure derivAtion (PRISMA) method. The PRISMA method is used to derive SSMs that can be used to calculate in real time the probability of a specific event (e.g., a crash). Because we adopt a data-driven approach to predict the possible future evolutions of traffic participant trajectories, less assumptions on these trajectories are needed. Since the PRISMA is not bound to specific assumptions, multiple SSMs for different types of scenarios can be derived. To calculate the probability of the specific event, the PRISMA method uses Monte Carlo simulations to estimate the occurrence probability of the specified event. We further introduce a statistical method that requires fewer simulations to estimate this probability. Combined with a regression model, this enables our derived SSMs to make real-time risk estimations. To illustrate the PRISMA method, an SSM is derived for risk evaluation during longitudinal traffic interactions. It is very difficult, if not impossible, to objectively compare the relative merits of two SSMs. Instead, we provide a method for benchmarking our derived SSM with respect to expected risk trends. The application of the benchmarking illustrates that the SSM matches the expected risk trends. Whereas the derived SSM shows the potential of the PRISMA method, future work involves applying the approach for other types of traffic conflicts, such as lateral traffic conflicts or interactions with vulnerable road users.Comment: 26 pages, 4 figures, 1 tabl

Identification of patients at risk of sudden cardiac death in congenital heart disease:The PRospEctiVE study on implaNTable cardlOverter defibrillator therapy and suddeN cardiac death in Adults with Congenital Heart Disease (PREVENTION-ACHD)

BACKGROUND Sudden cardiac death (SCD) is the main preventable cause of death in patients with adult congenital heart disease (ACHD). Since robust risk stratification methods are lacking, we developed a risk score model to predict SCD in patients with ACHD: the PRospEctiVE study on implaNTable cardlOverter defibrillator therapy and suddeN cardiac death in Adults with Congenital Heart Disease (PREVENTION-ACHD) risk score model. OBJECTIVE The purpose of this study was to prospectively study predicted SCD risk using the PREVENTION-ACHD risk score model and actual SCD and sustained ventricular tachycardia/ventricular fibrillation (VT/VF) rates in patients with ACHD. METHODS The PREVENTION-ACHD risk score model assigns 1 point each to coronary artery disease, New York Heart Association class II/III heart failure, supraventricular tachycardia, systemic ejection fraction = 120 ms, and QT dispersion >= 70 ms. SCD risk was calculated for each patient. An annual predicted risk of >= 3% constituted high risk. The primary outcome was SCD or VT/VF after 2 years. The secondary outcome was SCD. RESULTS The study included 783 consecutive patients with ACHD (n=239 (31%) left-sided lesions; n=138 (18%) tetralogy of Fallot; n=108 (14%) dosed atrial septal defect; median age 36 years; interquartile range 28-47 years; n=401 (51%) men). The PREVENTION-ACHD risk score modelidentified 58 high-risk patients. Eight patients (4 at high risk) experienced the primary outcome. The Kaplan-Meier estimates were 7% (95% confidence interval [CI] 0.1%-13.3%) in the high-risk group and 0.6% (95% CI 0.0%-1.1%) in the low-risk group (hazard ratio 12.5; 95% CI 3.1-50.9; P < .001). The risk score model's sensitivity was 0.5 and specificity 93, resulting in a C-statistic of 0.75 (95% CI 0.57-0.90). The hazard ratio for SCD was 12.4 (95% CI 1.8-88.1) (P = .01); the sensitivity and specificity were 0.5 and 0.92, and the C-statistic was 0.81 (95% CI 0.67-0.95). CONCLUSION The PREVENTION-ACHD risk score model provides greater accuracy in SCD or VT/VF risk stratification as compared with current guideline indications and identifies patients with ACHD who may benefit from preventive implantable cardioverterdefibrillator implantation

Multi-ethnic genome-wide association study for atrial fibrillation

Atrial fibrillation (AF) affects more than 33 million individuals worldwide and has a complex heritability. We conducted the largest meta-analysis of genome-wide association studies (GWAS) for AF to date, consisting of more than half a million individuals, including 65,446 with AF. In total, we identified 97 loci significantly associated with AF, including 67 that were novel in a combined-ancestry analysis, and 3 that were novel in a European-specific analysis. We sought to identify AF-associated genes at the GWAS loci by performing RNA-sequencing and expression quantitative trait locus analyses in 101 left atrial samples, the most relevant tissue for AF. We also performed transcriptome-wide analyses that identified 57 AF-associated genes, 42 of which overlap with GWAS loci. The identified loci implicate genes enriched within cardiac developmental, electrophysiological, contractile and structural pathways. These results extend our understanding of the biological pathways underlying AF and may facilitate the development of therapeutics for AF

Classification for Safety-Critical Car-Cyclist Scenarios Using Machine Learning

The number of fatal car-cyclist accidents is increasing. Advanced Driver Assistance Systems (ADAS) can improve the safety of cyclists, but they need to be tested with realistic safety-critical car-cyclist scenarios. In order to store only relevant scenarios, an online classification algorithm is needed. We demonstrate that machine learning techniques can be used to detect and classify those scenarios based on their trajectory data. A dataset consisting of 99 realistic car-cyclist scenarios is gathered using an instrumented vehicle. We achieved a classification accuracy of the gathered data of 87.9%. The execution time of only 45.8 us shows that the algorithm is suitable for online purposes. cop. 2015 IEEE

Assessment of Automated Driving Systems using real-life scenarios

More and more Advanced Driver Assistance Systems (ADAS) are entering the market for improving both safety and comfort by assisting the driver with their driving task. An important aspect in developing future ADAS and Automated Driving Systems (ADS) is testing and validation. Validating the failure rate of an ADS requires so many operational hours that testing in real time is almost impossible. One way to reduce this test load is virtual testing or hardware in-The-loop testing. The major challenge is to create realistic test cases that closely resemble the situation on the road. We present a way to use data of naturalistic driving to generate test cases for Monte-Carlo simulations of ADS. Because real-life data is used, the assessment allows to draw conclusions on how the ADS would perform in real traffic. The method, developed in EU AdaptIVe, is demonstrated by testing an Adaptive Cruise Control (ACC) system in scenarios where the predecessor of the ego vehicle is braking. We show that the probability of the occurrence of unsafe situations with the ACC system can be accurately and efficiently determined