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One of the challenges in designing safe, reliable and trustworthy Autonomous Vehicles (AVs) is to ensure that the AVs abide by traffic rules. For this, the AVs need to be able to understand and reason about traffic rules. In previous work,…
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 this paper, we present a modular system for representing and reasoning with legal aspects of traffic rules for autonomous vehicles. We focus on a subset of the United Kingdom's Highway Code (HC) related to junctions. As human drivers and…
Driving in compliance with traffic laws and regulations is a basic requirement for human drivers, yet autonomous vehicles (AVs) can violate these requirements in diverse real-world scenarios. To encode law compliance into AV systems,…
Driving is an intuitive task that requires skills, constant alertness and vigilance for unexpected events. The driving task also requires long concentration spans focusing on the entire task for prolonged periods, and sophisticated…
To ensure their safe use, autonomous vehicles (AVs) must meet rigorous certification criteria that involve executing maneuvers safely within (arbitrary) scenarios where other actors perform their intended maneuvers. For that purpose,…
The development and deployment of Autonomous Vehicles (AVs) on our roads is not only realistic in the near future but can also bring significant benefits. In particular, it can potentially solve several problems relating to vehicles and…
Automated Vehicles (AVs) are rapidly maturing in the transportation domain. However, the complexity of the AV design problem is such that no single technique is sufficient to provide adequate validation of key properties such as safety,…
This survey provides an analysis of current methodologies integrating legal and logical specifications into the perception, prediction, and planning modules of automated driving systems. We systematically explore techniques ranging from…
For autonomous vehicles to safely share the road with human drivers, autonomous vehicles must abide by specific "road rules" that human drivers have agreed to follow. "Road rules" include rules that drivers are required to follow by law --…
In this paper we show how rule-based decision making can be combined with traditional motion planning techniques to achieve human-like behavior of a self-driving vehicle in complex traffic situations. We give and discuss examples of…
Automated vehicles (AVs) are expected to increase traffic safety and traffic efficiency, among others by enabling flexible mobility-on-demand systems. This is particularly important in Singapore, being one of the world's most densely…
Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…
Autonomous Driving Systems (ADS) are critical dynamic reconfigurable agent systems whose specification and validation raises extremely challenging problems. The paper presents a multilevel semantic framework for the specification of ADS and…
Simulation is a valuable building block for the verification and validation of automated driving functions (ADF). When simulating urban driving scenarios, simulation maps are one important component. Often, the generation of those road…
For safe operation, autonomous vehicles have to obey traffic rules that are set forth in legal documents formulated in natural language. Temporal logic is a suitable concept to formalize such traffic rules. Still, temporal logic rules often…
Traffic rules formalization is crucial for verifying the compliance and safety of autonomous vehicles (AVs). However, manual translation of natural language traffic rules as formal specification requires domain knowledge and logic…
Smart cities are revolutionizing the transportation infrastructure by the integration of technology. However, ensuring that various transportation system components are operating as expected and in a safe manner is a great challenge. In…
The deployment of Automated Vehicles (AVs) is expected to address road transport externalities (e.g., safety, traffic, environmental impact, etc.). For this reason, a legal framework for their large-scale market introduction and deployment…
Automated Vehicles (AVs) hold promise for revolutionizing transportation by improving road safety, traffic efficiency, and overall mobility. Despite the steady advancement in high-level AVs in recent years, the transition to full automation…