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Yuejiao Xu

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2 papers

1 author row

AAAI Conference 2025 Conference Paper

Traffic Scenario Logic: A Spatial-Temporal Logic for Modeling and Reasoning of Urban Traffic Scenarios

Ruolin Wang
Yuejiao Xu
Jianmin Ji

Formal representations of traffic scenarios can be used to generate test cases for the safety verification of autonomous driving. However, most existing methods are limited to highway or highly simplified intersection scenarios due to the intricacy and diversity of traffic scenarios. In response, we propose Traffic Scenario Logic (TSL), which is a spatial-temporal logic designed for modeling and reasoning of urban pedestrian-free traffic scenarios. TSL provides a formal representation of the urban road network that can be derived from OpenDRIVE, i.e., the de facto industry standard of high-definition maps for autonomous driving, enabling the representation of a broad range of traffic scenarios without discretization approximations. We implemented the reasoning of TSL using Telingo, i.e., a solver for temporal programs based on Answer Set Programming, and tested it on different urban road layouts. Demonstrations show the effectiveness of TSL in test scenario generation and its potential value in areas like decision-making and control verification of autonomous driving. The code for TSL reasoning has been open-sourced.

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KR Conference 2023 Conference Paper

A²CoST: An ASP-based Avoidable Collision Scenario Testbench for Autonomous Vehicles

Ruolin Wang
Yuejiao Xu
Jie Peng
Jianmin Ji

This paper addresses the challenge of generating safety-critical scenarios with multiple adversarial vehicles for testing autonomous vehicles. Such scenarios must be plausible and collision-avoidable while resulting in a collision with the vehicle-under-test. However, the tremendous number of scenarios and the low ratio of plausible scenarios makes previous methods squander primary resources on implausible scenarios, degenerating their efficiency. We propose a two-stage framework called the ASP-based Avoidable Collision Scenario Testbench (A²CoST) to overcome this obstacle and improve efficiency. In the former stage, we apply Answer Set Programming (ASP) for generating plausible logical scenarios. In the latter stage, we use a search algorithm to refine logical scenarios into safety-critical concrete scenarios. We also compute collision-free trajectories in these concrete scenarios while the vehicle-under-test fails to avoid the collision. We empirically show the A²CoST significantly decreases the time consumption for simple scenarios while still effectively generating complex critical scenarios. The comparison with real-world traffic data further demonstrates the value of A²CoST in generating plausible scenarios. The source codes of our method and the baselines are opened at https: //github. com/Autonomous-Driving-Safety-Project/AACoST.

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