[Paper] Mission-Level Runtime Assurance Framework for Autonomous Driving
Source: arXiv - 2606.06996v1
Overview
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.
Key Contributions
This paper presents research in the following areas:
- cs.RO
- cs.DC
Methodology
Please refer to the full paper for detailed methodology.
Practical Implications
This research contributes to the advancement of cs.RO.
Authors
- Chieh Tsai
- Salim Hariri
Paper Information
- arXiv ID: 2606.06996v1
- Categories: cs.RO, cs.DC
- Published: June 5, 2026
- PDF: Download PDF