Fig. 1: Online traffic-law violation monitor for AVs.

This monitoring system is capable of deployment within the SV and monitors the SV’s adherence to traffic laws. It receives real-time data from the SV system and provides continuous monitoring results of the ego vehicle. The monitoring system has a trigger-based hierarchical architecture that ensures structural integrity (e.g., drive on lane line (a₂) ⊆ make lane-change (b₁ & b₃) ⊆ overtake (c₁) or keep lateral distance(a₃) ⊆ encounter (b₂)), which enhances the rationality of the monitoring results and simplifies maintenance in later stages.