Synthesizing Traffic Scenarios from Formal Specifications for Testing Automated Vehicles.

Virtual testing plays an important role in the validation and verification of automated vehicles. State-of-the-art approaches first generate a huge amount of test scenarios through simulations or test drives, which are later filtered to obtain relevant scenarios for a given set of specifications. However, only few works exist on synthesizing scenarios directly from specifications. In this work, we present an optimization-based approach to synthesize scenarios only from formal specifications and a given map. To concretize the specifications, we formulate predicates, which are subsequently converted to a mixed-integer quadratic optimization problem. We demonstrate how our method can generate scenarios for maps featuring merging lanes and intersections given a variety of specifications.