  Despite the rapid improvement of autonomous driving technology in recent
years, automotive manufacturers must resolve liability issues to commercialize
autonomous passenger car of SAE J3016 Level 3 or higher. To cope with the
product liability law, manufacturers develop autonomous driving systems in
compliance with international standards for safety such as ISO 26262 and ISO
21448. Concerning the safety of the intended functionality (SOTIF) requirement
in ISO 26262, the driving policy recommends providing an explicit rational
basis for maneuver decisions. In this case, mathematical models such as Safety
Force Field (SFF) and Responsibility-Sensitive Safety (RSS) which have
interpretability on decision, may be suitable. In this work, we implement SFF
from scratch to substitute the undisclosed NVIDIA's source code and integrate
it with CARLA open-source simulator. Using SFF and CARLA, we present a
predictor for claimed sets of vehicles, and based on the predictor, propose an
integrated driving policy that consistently operates regardless of safety
conditions it encounters while passing through dynamic traffic. The policy does
not have a separate plan for each condition, but using safety potential, it
aims human-like driving blended in with traffic flow.
