  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.

Robotics