Impact of Sensing Errors on Headway Design: From $\alpha$-Fair Group Safety to Traffic Throughput

Headway, namely the distance between vehicles, is a key design factor for ensuring the safe operation of autonomous driving systems. There have been studies on headway optimization based on the speeds of leading and trailing vehicles, assuming perfect sensing capabilities. In practical scenarios, however, sensing errors are inevitable, calling for a more robust headway design to mitigate the risk of collision. Undoubtedly, augmenting the safety distance would reduce traffic throughput, highlighting the need for headway design to incorporate both sensing errors and risk tolerance models. In addition, prioritizing group safety over individual safety is often deemed unacceptable because no driver should sacrifice their safety for the safety of others. In this study, we propose a multi-objective optimization framework that examines the impact of sensing errors on both traffic throughput and the fairness of safety among vehicles. The proposed framework provides a solution to determine the Pareto frontier for traffic throughput and vehicle safety. ComDrive, a communication-based autonomous driving simulation platform, is developed to validate the proposed approach. Extensive experiments demonstrate that the proposed approach outperforms existing baselines.