ISO 34502の重要シナリオの時相論理形式化：RSS安全距離を用いたモジュール構築
Temporal Logic Formalisation of ISO 34502 Critical Scenarios: Modular Construction with the RSS Safety Distance
自動運転の安全保証に向けて、ISO 34502の重要シナリオを信号時相論理（STL）で形式化し、RSS距離を危険定義に用いることで調整パラメータを削減した。
著者: Jesse Reimann, Nico Mansion, James Haydon, Benjamin Bray, Agnishom Chattopadhyay, Sota Sato, Masaki Waga, Étienne André, Ichiro Hasuo, Naoki Ueda, Yosuke Yokoyama
分類: cs.RO, cs.LO
原文アブストラクト
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.
