Modeling Language for Scenario Development of Autonomous Driving Systems

TL;DR

This paper introduces the Car Position Diagram (CPD), a notation for unambiguously representing autonomous driving scenarios, and presents a method to convert these diagrams into logical formulas for scenario enumeration using SAT solvers.

Contribution

The study proposes the CPD notation for clear scenario representation and a conversion method to propositional logic, enabling efficient scenario analysis for autonomous driving systems.

Findings

CPD allows concise scenario description

Conversion method enables scenario enumeration

Effective for analyzing typical and standard scenarios

Abstract

Autonomous driving systems are typically verified based on scenarios. To represent the positions and movements of cars in these scenarios, diagrams that utilize icons are typically employed. However, the interpretation of such diagrams is typically ambiguous, which can lead to misunderstandings among users, making them unsuitable for the development of high-reliability systems. To address this issue, this study introduces a notation called the car position diagram (CPD). The CPD allows for the concise representation of numerous scenarios and is particularly suitable for scenario analysis and design. In addition, we propose a method for converting CPD-based models into propositional logic formulas and enumerating all scenarios using a SAT solver. A tool for scenario enumeration is implemented, and experiments are conducted on both typical car behaviors and international standards. The results demonstrate that the CPD enables the concise description of numerous scenarios, thereby confirming the effectiveness of our scenario analysis method.