TABLE 1

Summary of Parameters Associated with Integrity Requirements

Driverless vehicle integrity requirementsUpper endLower end
Probability of exceedance10−7/moment10−8/moment
Protection level (PL)*5σposition6σposition
Lateral alert limit0.5 m0.3 m
Longitudinal alert limit0.5 m0.3 m
Lateral maximum allowable position error standard deviation0.1 m0.05 m
Longitudinal maximum allowable position error standard deviation0.1 m0.05 m
  • * We use PL = Kffmdσposition, where Kffmd is the fault-free missed detection multiplier calculated from the probability of exceedance and cumulative distribution Gaussian function (SC-159, 2004).