The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for the distributed control of autonomous vehicles that is safe and guarantees progress for all agents. In this paper, we first introduce a new game paradigm which we term the quasi-simultaneous discrete-time game. We then define an Agent Protocol agents must use to make decisions in this quasi-simultaneous discrete-time game setting. According to the protocol, agents first select an intended action and then each agent determines whether it can take its intended action or not, given its proposed intention and the intentions of nearby agents. The protocol so defined will ensure safety under all traffic conditions and liveness for all agents under "sparse" traffic conditions. These guarantees, however, are predicated on the premise that all agents are operating with the aforementioned protocol. We provide proofs of correctness of the protocol and validate our results in simulation.

中文翻译：

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道路规则：实现自动驾驶汽车的安全性和安全性

确保所有车辆的安全和进步的能力对于自动驾驶汽车行业的成功至关重要。我们为自动驾驶汽车的分布式控制提供了一个框架，该框架是安全的，并确保所有代理商的进步。在本文中，我们首先介绍一种新的游戏范例，我们称其为准同时离散时间游戏。然后，我们定义了一个代理协议，代理必须在此准同时离散时间游戏设置中进行决策。根据协议，代理首先选择预期的操作，然后每个代理根据给定的提议意图和附近代理的意图，确定是否可以采取其预期的动作。如此定义的协议将确保在所有流量条件下的安全性以及“稀疏”流量条件下所有代理的活跃性。这些保证，但是，前提是所有代理都以上述协议进行操作。我们提供协议正确性的证明，并在仿真中验证我们的结果。