Temporal Logic Formalisation of ISO 34502 Critical Scenarios: Modular Construction with the RSS Safety Distance

Authors:
  • JRJesse Reimann
    Jesse Reimann
  • NMNico Mansion
    Nico Mansion
  • JHJames Haydon
    James Haydon
  • BBBenjamin Bray
    Benjamin Bray
  • ACAgnishom Chattopadhyay
    Agnishom Chattopadhyay
  • SSSota Sato
    Sota Sato
  • MWMasaki Waga
    Masaki Waga
  • ÉAÉtienne André
    Étienne André
  • IHIchiro Hasuo
    Ichiro Hasuo
  • NUNaoki Ueda
    Naoki Ueda
  • YYYosuke Yokoyama
    Yosuke Yokoyama
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Abstract
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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