  Rules or specifications for autonomous vehicles are currently formulated on a
case-by-case basis, and put together in a rather ad-hoc fashion. As a step
towards eliminating this practice, we propose a systematic procedure for
generating a set of supervisory specifications for self-driving cars that are
1) associated with a distributed assume-guarantee structure and 2)
characterizable by the notion of consistency and completeness. Besides helping
autonomous vehicles make better decisions on the road, the assume-guarantee
contract structure also helps address the notion of blame when undesirable
events occur. We give several game-theoretic examples to demonstrate
applicability of our framework.
