Temporal Logic Formalisation of ISO 34502 Critical Scenarios: Modular Construction with the RSS Safety Distance
arxiv(2024)
摘要
As the development of autonomous vehicles progresses, efficient safety
assurance methods become increasingly necessary. Safety assurance methods such
as monitoring and scenario-based testing call for formalisation of driving
scenarios. In this paper, we develop a temporal-logic formalisation of an
important class of critical scenarios in the ISO standard 34502. We use signal
temporal logic (STL) as a logical formalism. Our formalisation has two main
features: 1) modular composition of logical formulas for systematic and
comprehensive formalisation (following the compositional methodology of ISO
34502); 2) use of the RSS distance for defining danger. We find our
formalisation comes with few parameters to tune thanks to the RSS distance. We
experimentally evaluated our formalisation; using its results, we discuss the
validity of our formalisation and its stability with respect to the choice of
some parameter values.
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