Temporal Logic Formalisation of ISO 34502 Critical Scenarios: Modular Construction with the RSS Safety Distance
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arXiv
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| Autori principali: | , , , , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866909153144864768 |
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| author | Reimann, Jesse Mansion, Nico Haydon, James Bray, Benjamin Chattopadhyay, Agnishom Sato, Sota Waga, Masaki André, Étienne Hasuo, Ichiro Ueda, Naoki Yokoyama, Yosuke |
| author_facet | Reimann, Jesse Mansion, Nico Haydon, James Bray, Benjamin Chattopadhyay, Agnishom Sato, Sota Waga, Masaki André, Étienne Hasuo, Ichiro Ueda, Naoki Yokoyama, Yosuke |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_18764 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Temporal Logic Formalisation of ISO 34502 Critical Scenarios: Modular Construction with the RSS Safety Distance Reimann, Jesse Mansion, Nico Haydon, James Bray, Benjamin Chattopadhyay, Agnishom Sato, Sota Waga, Masaki André, Étienne Hasuo, Ichiro Ueda, Naoki Yokoyama, Yosuke Robotics Logic in Computer Science 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. |
| title | Temporal Logic Formalisation of ISO 34502 Critical Scenarios: Modular Construction with the RSS Safety Distance |
| topic | Robotics Logic in Computer Science |
| url | https://arxiv.org/abs/2403.18764 |