Compliance Validation of Traffic Rules for Automated Driving System

被引：0
|
作者：
Wang C.-J. [1 ]
Hu W.-C. [1 ,2 ]
Yu P.-C. [1 ]
Zhou W.-H. [1 ]
Song S.-D. [3 ]
机构：
[1] Research Institute for Road Safety of the Ministry of Public Security, Beijing
[2] School of Metropolitan Transportation, Beijing University of Technology, Beijing
[3] Huawei Technologies Co. Ltd., Beijing
来源：
Zhongguo Gonglu Xuebao/China Journal of Highway and Transport | 2022年 / 35卷 / 09期
关键词：
automated driving; metric temporal logic; mixed traffic; simulation test; traffic engineering; traffic rule;
D O I：
10.19721/j.cnki.1001-7372.2022.09.002
中图分类号：
学科分类号：
摘要：
With the development of automated driving, road tests have gradually been conducted for high-level automated driving vehicles in limited areas. Assuring and improving the safe driving capability of self-driving systems is a popular topic in current research, testing, and development. To reduce the traffic safety risk under mixed traffic conditions, a method of verifying and testing the compliance of automated driving vehicles with the same traffic rules is proposed. Aiming at the technical bottleneck of automatic semantic analysis of various traffic laws and rules, this paper proposes a two-stage digital model of normalization-logic traffic rules based on improved predicate metric temporal logic (MTL). Natural language traffic rules were transformed into logical codes constituting propositions, logical connectives, and time-series operators. In addition, digital traffic rules that can be understood, executed, and verified in automated driving systems were generated. A classification and grading system for traffic rule propositions was constructed. Furthermore, a set of traffic rule compliance verification algorithms based on high-precision trajectories of automated driving vehicles were proposed, a simulation test platform was built, and verification was performed in a highway traffic scenario. Theoretical analysis and test results show that improvements such as simplifying the proposition space, adding time series operators, and predicate logic words effectively improve the time representation ability of the original MTL framework, solve the problem of time series logic, and greatly improve the efficiency of the digital transformation of traffic rules. Additionally, the method is compatible with local traffic laws and future traffic law revisions. The proposed traffic rule compliance verification method and test platform can effectively test the ability of an automated driving system to comply with the existing traffic rules. These results are significant for improving the safety performance of automated driving systems and the level of hybrid traffic safety control in the future. © 2022 Xi'an Highway University. All rights reserved.
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页码：13 / 25
页数：12
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