  An excellent self-driving car is expected to take its passengers safely and
efficiently from one place to another. However, different ways of defining
safety and efficiency may significantly affect the conclusion we make. In this
paper, we give formal definitions to the safe state of a road and safe state of
a vehicle using the syntax of linear temporal logic (LTL). We then propose the
concept of safe driving throughput (SDT) and safe driving capacity (SDC) which
measure the amount of vehicles in the safe state on a road. We analyze how SDT
is affected by different factors. We show the analytic difference of SDC
between the road with perception-based vehicles (PBV) and the road with
cooperative-based vehicles (CBV). We claim that through proper design, the SDC
of the road filled with PBVs will be upper-bounded by the SDC of the road
filled with CBVs.
