Safety and mission performance validation of autonomous vehicles (AVs) is a major challenge. In this paper we describe a methodology for constructing and applying assertion checks to validate the behaviour of an AV operating either in simulation or in the real world. We have identified a taxonomy of assertion types and the general format of their specification, and we have developed procedures for translating driving codes of practice to yield formal logical expressions that can be monitored automatically by computer, either by direct translation or by physical modelling. We have developed examples of assertions derived from the UK Highway Code (UKHC), as an example of a code of practice. We illustrate the approach with an example of assertion checking for vehicle overtaking, using a geospatial information system in an SQL database for validation and performance assessment. We present initial simulation and runtime monitoring experiments that apply assertions relevant in this overtaking scenario together with an analysis of the safety and mission performance characteristics measured.

翻译：自主车辆(AVs)的安全和任务性能验证是一项重大挑战,在本文件中,我们描述了为验证在模拟或现实世界中操作的AV的行为而建造和运用保有权检查的方法;我们确定了保有权类型分类及其规格的一般格式;我们制定了翻译驾驶行为守则的程序,以便产生正式的逻辑表达方式,可以通过计算机直接翻译或物理模拟进行自动监测;我们以《联合王国公路规则》为依据,作为业务守则的一个实例,我们用SQL数据库中的地理空间信息系统为例,对车辆超载进行保有权检查,用于验证和性能评估;我们提出初步的模拟和运行时间监测实验,应用与这一超常情景有关的说法,同时分析所测量的安全和任务性能特征。