Correct by Design Coordination of Autonomous Driving Systems

The paper proposes a method for the correct by design coordination of autonomous driving systems (ADS). It builds on previous results collision avoidance policies and modeling ADS combining descriptions their static environment in form maps, dynamic behavior vehicles. An is modeled as system involving set vehicles coordinated Runtime that based vehicle positions map kinetic attributes, computes free spaces each vehicle. Vehicles are bounded to move within corresponding allocated spaces. We provide safe control policy an if its respect assume-guarantee contracts. result established showing composition contracts inductive invariant entails safety. show it practically possible define speed comply with Furthermore, we traffic rules can be specified linear-time temporal logic, class formulas constrain speeds. main that, given rules, derive space such resulting rules.