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The Responsibility-Sensitive Safety (RSS) model offers provable safety forvehicle behaviors such as minimum safe following distance. However, handlingworst-case variability and uncertainty may significantly lower vehiclepermissiveness, and in some situations safety cannot be guaranteed. Diggingdeeper into Newtonian mechanics, we identify complications that result fromconsidering vehicle status, road geometry and environmental parameters. Anespecially challenging situation occurs if these parameters change during thecourse of a collision avoidance maneuver such as hard braking. As part of ouranalysis, we expand the original RSS following distance equation to account foredge cases involving potential collisions mid-way through a braking process. Weadditionally propose a Micro-Operational Design Domain ({\mu}ODD) approach tosubdividing the operational space as a way of improving permissiveness.Confining probabilistic aspects of safety to {\mu}ODD transitions permitsproving safety (when possible) under the assumption that the system hastransitioned to the correct {\mu}ODD for the situation. Each {\mu}ODD canadditionally be used to encode system fault responses, take credit for advisoryinformation (e.g., from vehicle-to-vehicle communication), and anticipatelikely emergent situations.

Autonomous Vehicles Meet the Physical World: RSS, Variability, Uncertainty, and Proving Safety (Expanded Version)