Risk Assessments for Evasive Emergency Maneuvers in Autonomous Vehicles

摘要

This paper presents a systematic verification and validation (V\&V) framework for the Evasive Minimum Risk Maneuver (EMRM) feature in autonomous vehicles, addressing a critical gap in existing safety assessment methods. We introduce the first formally integrated pipeline that unifies Hazard Analysis and Risk Assessment (HARA), System-Theoretic Process Analysis (STPA), and Finite State Machine (FSM) modeling into a single traceable workflow specifically designed for EMRM V\&V. HARA and STPA are combined through a structured hazard-loss mapping to identify hazards and unsafe control actions; an FSM layer captures hazard-to-loss state transitions that neither method models individually; and the unified framework drives automated scenario generation with measurable parameter-space coverage. Applied to a T-junction EMRM case study, the framework guides 1{,}880 RRT-based simulations spanning ego speed, time-to-collision (TTC), and road friction, uncovering a key physical result: the T-junction geometry gives nearly equal difficulty to stopping and to navigating, so the intermediate mitigation mode occupies only 1.9\% of the feasible parameter space. EMRM steering strategies achieve 81\% collision-avoidance rate and reduce mean residual impact speed from 18.9~km/h to 9.0~km/h compared with emergency braking alone, while the framework attains 100\% hazard, UCA, and parameter-space coverage versus $\leq$1\% for traditional methods. These results demonstrate that the integrated HARA-STPA-FSM framework enables high-resolution, traceable EMRM V\&V that is not achievable with any single method in isolation.