Online Verification Concept for Autonomous Vehicles -- Illustrative\n Study for a Trajectory Planning Module

Regulatory approval and safety guarantees for autonomous vehicles facing\nfrequent functional updates and complex software stacks, including artificial\nintelligence, are a challenging topic. This paper proposes a concept and\nguideline for the development of an online verification module -- the\nSupervisor -- capable of handling the aforementioned challenges. The concept\npresented for the establishment of a Supervisor is designed in a way to\nidentify and monitor an extensive list of features contributing to safe\noperation. As a result, a safe overall (sub)system is attained. Safeguarding a\nmotion planner of an autonomous race vehicle is used to illustrate the\nprocedure and practicability of the framework at hand. The capabilities of the\nproposed method are evaluated in a scenario-based test environment and on\nfull-scale vehicle data.\n