Abstract: A method for certified control of a self-driving ego vehicle is described. The method includes analyzing a safety situation of the self-driving ego vehicle to determine a proposed vehicle control action using a main controller of the self-driving ego vehicle. The method also includes presenting, by the main controller, the proposed vehicle control action to an interlock controller, including a certificate of the proposed vehicle control action. The method further includes checking a safety certification evidence from the certificate by the interlock controller using a predefined safety argument to verify the safety certification evidence of the certificate. The method also includes directing, by a low-level controller, the self-driving ego vehicle to perform a certified vehicle control action.

Abstract: A method for certified control of a self-driving ego vehicle is described. The method includes analyzing a safety situation of the self-driving ego vehicle to determine a proposed vehicle control action using a main controller of the self-driving ego vehicle. The method also includes presenting, by the main controller, the proposed vehicle control action to an interlock controller, including a certificate of the proposed vehicle control action. The method further includes checking a safety certification evidence from the certificate by the interlock controller using a predefined safety argument to verify the safety certification evidence of the certificate. The method also includes directing, by a low-level controller, the self-driving ego vehicle to perform a certified vehicle control action.

Abstract: Clothing apparatus may include a jacket and gloves. The clothing apparatus includes illuminating elements, a power source, a controller, and hand operated switches. The gloves are in signaling communication with the controller, such as may permit the operator to cause signaling functions to occur by use of the hands without releasing, for example, the handle bars of a bicycle., and without having to fumble with external manual switches. The power and control units may be removable and rechargeable. The jacket may be water-resistant or water-proof, and may include a hood. The apparatus may include a photo-sensitive element and running lights such as may operate automatically as dusk falls.