ODD Engine

This repository implements an ODD-oriented definition language and a runtime environment for monitoring and restricting the functionality of an Automated Driving System (ADS) based on predefined Operational Design Domains (ODD).

Contents

• Ontology: Knowledge structure based on OWL, defining attributes and relations within the ODD.
• Database: Storage and access to instances (objects) of the ontology and evaluation results.
• Expressions: Mathematical and logical expressions for calculating and verifying ODD conditions.
• ODD Engine: Evaluation of the current vehicle situation based on defined rules and restrictions.
• Integration: ROS2 node to connect the engine with an existing ADS (e.g., from the ADP project at FH Aachen).

Features

• Definition of ODDs in a human-readable YAML format
• Support for:
  • Mathematical and logical expressions
  • Combination of rules (Guardrails)
  • Multi-level ontologies for complex environmental conditions
• Output of restriction keys (e.g., ToR or MRM) to control ADS behavior
• Modern C++17 implementation using smart pointers and standard library features

Dependencies

sudo apt install librdf0 librdf0-dev

CParse

cd odd_engine/include
git clone https://github.com/cparse/cparse.git
make release -C cparse

Install

Build the libraries:

mkdir build
cd build
cmake ..
make
sudo make install

Then include it in a CMake project:

find_package(odd_engine)

Usage

• Define the ODD in a YAML file
• Create an ontology using Protégé and export it as an RDF (.rdf) file
• Start the ODD engine
• The engine outputs active restriction keys that the ADS can use to adjust driving behavior

License

MIT

Author

Moritz Rumpf
FH Aachen, Faculty of Electrical Engineering and Information Technology
Supervisors: Prof. Dr.-Ing. Michael Reke, Joschua Schulte-Tigges M. Eng.