详细信息
- 来源站点
- ArXiv CS.AI
- 作者
- Chaitanya Shinde, Hadi Hajieghrary, Miguel Hurtado
- 文章类型
- PAPER
- 语言
- en
- 发布日期
- 2026-08-11
摘要
arXiv:2608.08941v1 Announce Type: cross Abstract: Operational Design Domain (ODD) specifications describe where an automated driving system (ADS) is permitted to operate, but they do not prescribe what the ADS must demonstrably do once deployed within that domain. This gap between operating condition specification and behavioral validation represents a critical unresolved challenge in ADS safety assurance. This paper presents a structured, standards-grounded taxonomy of 21 behavioral competencies organized across three operational domains-Highway (HWY), Urban (URB), and Hub (HUB)-derived systematically from the PEGASUS six-layer model-based ODD. Each behavior is decomposed along longitudinal and lateral control axes and characterized against a four-property framework: Safety (gap maintenance, conflict avoidance, kinematic stability), Compliance (legal rules and behavioral norms), Comfort (rider dynamics and trust), and Efficiency (mission completion and product-level metrics).