Pub Date : 2020-07-01DOI: 10.1109/CAVS51000.2020.9334599
Klemens Esterle, Luis Gressenbuch, A. Knoll
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.
{"title":"Formalizing Traffic Rules for Machine Interpretability","authors":"Klemens Esterle, Luis Gressenbuch, A. Knoll","doi":"10.1109/CAVS51000.2020.9334599","DOIUrl":"https://doi.org/10.1109/CAVS51000.2020.9334599","url":null,"abstract":"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.","PeriodicalId":409507,"journal":{"name":"2020 IEEE 3rd Connected and Automated Vehicles Symposium (CAVS)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132810487","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-05-28DOI: 10.1109/CAVS51000.2020.9334665
Behrad Toghi, Divas Grover, R. V. Romero, Y. P. Fallah
Short-term future of automated driving can be imagined as a hybrid scenario in which both automated and human-driven vehicles co-exist in the same environment. In order to address the needs of such road configuration, many technology solutions such as vehicular communication and predictive control for automated vehicles have been introduced in the literature. Both aforementioned solutions rely on driving data of the human driver. In this work, we investigate the currently available driving datasets and introduce a real-world maneuver-based driving dataset that is collected during our urban driving data collection campaign. We also provide a model that embeds the patterns in maneuver-specific samples. Such model can be employed for classification and prediction purposes.
{"title":"A Maneuver-based Urban Driving Dataset and Model for Cooperative Vehicle Applications","authors":"Behrad Toghi, Divas Grover, R. V. Romero, Y. P. Fallah","doi":"10.1109/CAVS51000.2020.9334665","DOIUrl":"https://doi.org/10.1109/CAVS51000.2020.9334665","url":null,"abstract":"Short-term future of automated driving can be imagined as a hybrid scenario in which both automated and human-driven vehicles co-exist in the same environment. In order to address the needs of such road configuration, many technology solutions such as vehicular communication and predictive control for automated vehicles have been introduced in the literature. Both aforementioned solutions rely on driving data of the human driver. In this work, we investigate the currently available driving datasets and introduce a real-world maneuver-based driving dataset that is collected during our urban driving data collection campaign. We also provide a model that embeds the patterns in maneuver-specific samples. Such model can be employed for classification and prediction purposes.","PeriodicalId":409507,"journal":{"name":"2020 IEEE 3rd Connected and Automated Vehicles Symposium (CAVS)","volume":"139 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131386856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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