Collision avoidance road test for COLREGS-constrained autonomous vehicles

Recently developed algorithms quantify and subsequently evaluate COLREGS performance in collision avoidance scenarios based on vessel track data. Combining these evaluation algorithms with proposed categories of COLREGS rules allows for testing of collision avoidance performance in accordance with protocol requirements. This paper proposes a “road test” framework for autonomous marine vehicles prior to operating outside of a testing environment. Testing and certifying agencies may adopt the proposed categories of scope and testing attributes while determining the appropriate parameters for evaluation. Adapting the evaluation criteria to several thresholds would allow for various levels of certification and locally-tailored customs. Generalization to human operators and other domains such as Rules of the Air is proposed.