TABLE 1

Summary of Parameters Associated with Integrity Requirements

Driverless vehicle integrity requirements	Upper end	Lower end
Probability of exceedance	10⁻⁷/moment	10⁻⁸/moment
Protection level (PL)^*	^5σ_position	^6σ_position
Lateral alert limit	0.5 m	0.3 m
Longitudinal alert limit	0.5 m	0.3 m
Lateral maximum allowable position error standard deviation	0.1 m	0.05 m
Longitudinal maximum allowable position error standard deviation	0.1 m	0.05 m

↵* We use PL = K_ffmdσ_position, where K_ffmd is the fault-free missed detection multiplier calculated from the probability of exceedance and cumulative distribution Gaussian function (SC-159, 2004).