Abstract
The design of autonomous vehicles includes obstacle detection and avoidance, route planning, speed control, etc. However, there is a lack of an explicitely representation of the rules of the road on an autonomous vehicle. Additionally, it is necessary to understand the behaviour of an autonomous vehicle in order to check whether or not it works according to the rules of the road. Here, we propose an agent-based architecture to embed the rules of the road into an agent representing the behaviour of an autonomous vehicle. We use temporal logic to formally represent the rules of the road in a way it should be possible to capture when and how a given rule of the road can be applied. Our contributions include: i. suggestion of changes in the rules of the road; ii. representation of rules in a suitable way for an autonomous vehicle agent; iii. dealing with indeterminate terms in the Highway Code.
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Notes
- 1.
LTL representation of road junction rules: https://github.com/laca-is/SAE-RoR.
- 2.
For the sake of clarity of the rules of the road language, we choose to use the term enter as an action which represents not only a driver entering a road junction, but also emerging from a road junction to another road.
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Acknowledgements
Work partially supported through EPSRC research project Verifiable Autonomy [EP/L024845].
The authors kindly thank the anonymous reviewers for the insightful suggestions which have considerably improved the quality of our paper.
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Alves, G.V., Dennis, L., Fisher, M. (2020). Formalisation and Implementation of Road Junction Rules on an Autonomous Vehicle Modelled as an Agent. In: Sekerinski, E., et al. Formal Methods. FM 2019 International Workshops. FM 2019. Lecture Notes in Computer Science(), vol 12232. Springer, Cham. https://doi.org/10.1007/978-3-030-54994-7_16
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