  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 in 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. We implemented the reasoning of TSL using Telingo, i.e., a solver
for temporal programs based on the 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.
