Task Formalization for Autonomous Driving Turning at Roundabouts with Signal Temporal Logic Specifications

This study is aimed at formalizing the rules of the road from natural language into safety specifications with signal temporal logic, which establishes specifications for driving tasks that autonomous vehicles should execute in urban roundabouts. These specifications are based on the traffic regulations in China. Through this work, it is demonstrated that signal temporal logic is an important tool for formalizing driving tasks and solving path planning problems in autonomous driving. The feasibility of the proposed method is demonstrated through numerical experiments.