Declarative Scenario-based Testing with RoadLogic

TL;DR

RoadLogic is a system that converts declarative scenario specifications into executable, realistic simulations for autonomous vehicle testing, enabling systematic and diverse scenario generation.

Contribution

It introduces a novel approach combining Answer Set Programming and motion planning to instantiate and verify declarative scenarios for autonomous vehicle testing.

Findings

RoadLogic generates realistic scenarios within minutes.

It captures diverse behaviors through parameter sampling.

The system effectively verifies scenario correctness.

Abstract

Scenario-based testing is a key method for cost-effective and safe validation of autonomous vehicles (AVs). Existing approaches rely on imperative scenario definitions, requiring developers to manually enumerate numerous variants to achieve coverage. Declarative languages, such as ASAM OpenSCENARIO DSL (OS2), raise the abstraction level but lack systematic methods for instantiating concrete and specification-compliant scenarios. To our knowledge, currently, no open-source solution provides this capability. We present RoadLogic that bridges declarative OS2 specifications and executable simulations. It uses Answer Set Programming to generate abstract plans satisfying scenario constraints, motion planning to refine the plans into feasible trajectories, and specification-based monitoring to verify correctness. We evaluate RoadLogic on instantiating representative OS2 scenarios executed in the CommonRoad framework. Results show that RoadLogic consistently produces realistic, specification-satisfying simulations within minutes and captures diverse behavioral variants through parameter sampling, thus opening the door to systematic scenario-based testing for autonomous driving systems.