交通規則を機械が解釈できる形式言語で定式化
Formalizing Traffic Rules for Machine Interpretability
人間向けの曖昧な交通規則を線形時相論理で形式化し、自動運転の計画・検証に使える機械解釈可能な規則セットを提案した論文。
著者: Klemens Esterle, Luis Gressenbuch, Alois Knoll
分類: cs.RO
原文アブストラクト
Autonomous vehicles need to be designed to abide by the same rules that humans follow. This is challenging, because traffic rules are fuzzy and not well defined, making them incomprehensible to machines. Satisfaction cannot be incorporated in a planning component without proper formalization, nor can it be monitored and verified during simulation or testing. However, no research work has provided a consistent set of machine-interpretable traffic rules for a given operational driving domain. In this paper, we propose a methodology for the legal study and formalization of traffic rules in a formal language. We use Linear Temporal Logic as a formal specification language to describe temporal behaviors, capable of capturing a wide range of traffic rules. We contribute a formalized set of traffic rules for dual carriageways and evaluate the effectiveness of our formalized rules on a public dataset.
