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.

中文翻译：

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为机器可解释性制定流量规则

自动驾驶汽车的设计需要遵守与人类相同的规则。这是具有挑战性的，因为交通规则模糊且没有明确定义，使机器无法理解它们。满意度不能在没有适当形式化的情况下纳入规划组件，也不能在模拟或测试期间进行监控和验证。然而，没有研究工作为给定的操作驾驶领域提供了一套一致的机器可解释的交通规则。在本文中，我们提出了一种以正式语言对交通规则进行法律研究和形式化的方法。我们使用线性时间逻辑作为一种形式化规范语言来描述时间行为，能够捕获广泛的交通规则。