A Quest of Self-Explainability: When Causal Diagrams meet Autonomous Urban Traffic Manoeuvres

While autonomous systems are increasingly capturing the markets, they also become more and more complex. Thus, the (self-) explainability of these complex and adaptive systems becomes evermore important. We introduce explainability to our previous work on formally proving properties of autonomous urban traffic manoeuvres. We build causal diagrams by connecting actions of a crossing protocol with their reasons and derive explanation paths from these diagrams. We strive to bring our formal methods approach together with requirements engineering approaches, by suggesting to use run-time requirements engineering to update our causal diagrams at run-time.