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Responsibility-sensitive safety (RSS) is an approach to the safety ofautomated driving systems (ADS). It aims to introduce mathematically formulatedsafety rules, compliance with which guarantees collision avoidance as amathematical theorem. However, despite the emphasis on mathematical and logicalguarantees, the logical foundations and formalization of RSS are largely anunexplored topic of study. In this paper, we present an introduction to RSS,one that we expect will bridge between different research communities and pavethe way to a logical theory of RSS, its mathematical formalization, andsoftware tools of practical use.

Responsibility-Sensitive Safety: an Introduction with an Eye to Logical Foundations and Formalization