Autonomous robotic vehicles come with significant risks of injury, including possibly death, as well as significant risk of damage to property. Judicious planning and a safety-first attitude is critical for ensuring that research can be conducted with low risk to study personnel and the general public.
Note: Make sure to review the General Usage Guidelines, particularly for information about responding to injuries and emergencies.
I) General guidelines
- Vehicles may only be driven in a closed course that is inaccessible to public vehicle and pedestrian traffic.
- Autonomous operation requires a 3-person buddy system, including a safety driver that can take physical control of the vehicle in case of an adverse event, as well as a safety lookout who can ensure the environment is clear of hazards and suitable for testing.
- New code should be tested with great care, e.g., by using component tests or simulation tests first. Full system testing should be avoided until components are proven to be relatively stable and produce expected results.
II) Personnel Roles and Guidelines
The safety driver is a person responsible for ensuring
- Safe operation of the vehicle and
- Safety of the people in and around the vehicle and the testing facility.
To be a safety driver, you have to complete the Safety driver training.
The safety lookout is responsible for alerting the driver verbally
- That the environment is ready for testing
- That there is a risk and that the driver should take appropriate action.
To be a safety lookout, you have to complete the High bay safety training.
The experimenter is a person involved in performing experiments either in the vehicle or on the ground.
Three people are needed to operate a vehicle at all times. safety driver ≠ safety lookout ≠ experimenter.
Etiquette for experiments
Beginning: When Experimenter is ready: “CLEAR”
Lookout: “READY” or “WAIT” depending on whether environment is ready or has risk.
Safety driver: “MOVING” when driving commences (autonomous or manual)
During testing, the safety driver shall
- Be ready to take control of the vehicle in the case of any real or perceived risk
- Take control of the vehicle by operating the break or steering in case of a risk (this will disengage the computer control)
During testing, safety lookout shall
- Yell “STOP” if there is any perceived risk.
- Press one of the Emergency Buttons which will disengage the computer. This does not necessarily stop the vehicle. Safety driver has to do that.
End of testing, Safety driver: “OK” (then people can approach vehicle)
III) Safety Look-Out Training and Responsibilities
1) The Safety Look-Out assists the Safety Driver with Safe Operation of the Vehicle
- Ensuring the safety of the people in and around the vehicle, the vehicle itself and the facility
- Ensuring the area all around the vehicle is clear because the Safety Driver’s visibility is restricted
2) When Safety Driver shouts “CLEAR” that is when your responsibilities start
Make sure:
- You are standing outside the vehicle, not riding
- You remove the wheel chocks
- You unplug the vehicle charging cable
- There is nothing in the path of the vehicle
- Everyone is clear of the vehicle
- Everyone around is paying attention
3) Then reply by shouting “READY”
- However, your job still continues:
- Look out for people moving around
- Look out for other people/equipment entering the bay through doors, etc.
4) If at any time you think safety may be compromised YELL “STOP”
5) If Safety Driver doesn’t hear you or time is short – press one of the Emergency Buttons (Note: this does not stop the vehicle but only disengages the computer)
6) Upon normal completion of an experiment the Safety Driver then shouts “OK” people can then approach vehicle to discuss issues with the experiment and troubleshoot
7) The next experiment starts with Safety Driver shouting “CLEAR”
IV) Safety Driver Training and Responsibilities
1) The Safety Driver ensures the Safe Operation of the Vehicle
2) To ensure the safety of the people in and around the vehicle, the vehicle itself and the facility
Make sure:
- Seat belts are worn by you and the Experimenter
- All doors are closed and windows are open, so everyone can hear each other
3) Your visibility in the vehicle is restricted, so you must have a Safety Look-Out any time the vehicle is to move
4) When the Experimenter is ready to test, you shout “CLEAR”
5) This is your Safety Look-Out’s indication to assist you in ensuring:
- The wheel chocks are removed
- The vehicle charging cable is unplugged
- There is nothing in the path of the vehicle
- Everyone is clear of the vehicle
- Everyone around is paying attention and aware that the vehicle is moving possibly autonomously
6) The Safety Look-Out will then reply by shouting “READY”
7) When you are prepared, you will respond by shouting “MOVING”
Then you shall:
- Be ready to take control of the vehicle when the autonomous driving fails
- Maintain alertness without being distracted by the passenger’s testing
- Keep aware of any people moving around the vehicle
8) If at any time you think safety may be compromised, take control of the vehicle by operating the break or steering wheel – this will disengage the computer control
9) Your Safety Look-Out will be watching the area, listen for them to YELL “STOP”
10) At any time the Safety Look-Out or Experimenter may press one of the of the Emergency Buttons which will disengage the computer, however it is still your responsibility to take control and stop the vehicle
11) Upon normal completion of an experiment you shout “OK” then people can approach vehicle to discuss issues with the experiment and troubleshoot
12) The next experiment starts with you shouting “CLEAR”
IV) GEM AEV Policies
Vehicle access
Complete the following training:
- GEM AEV Safety Look-Out Training, in person or via video
- GEM AEV Safety Driver Training, in person – Requested by your professor
After training, send email to
- Highbay Manager and Lab Coordinator to gain access to the GEM AEV with “Requesting Access to GEM AEV” as the Subject and specify training received
Vehicle keys are now be kept in Rm 102 in the Highbay (considering using a Bluetooth lock-box in the future).
Training
Highbay Access Procedures
Topics: iCard access, Emergency procedures, Buddy System, etc.
Duration: Can be combined with Safety Look-Out Training
Scheduling: Contact Class Professor or Advisor
Safety Look-Out Training
Topics: Safety Look-Out procedures, responsibilities, protocols, etc.
Duration: Can be done in groups, 1 hr
Scheduling: Contact Class Professor or Advisor
Safety Driver Training
Topics: Safety Driver rules, vehicle operation, key access, protocols, etc.
Duration: One on one training with vehicle, 1 hr
Scheduling: Requested and provided by Professor or TA
GEM AEV Safety Rules
- Whenever the vehicle key is inserted, there must be:
- A certified Safety Driver in the driving seat and paying attention
- Two other people present, one of whom is a certified Safety Look-Out
- The vehicle may only be operated:
- In the Highbay back lot, only when access is blocked from other vehicle and pedestrian traffic with clearly marked cones
- All vehicle operators will be:
- a university employee, OR
- an RA or TA, OR
- a trained student in the course (request special permission from Highbay Manager and Lab Coordinator)