SAFETY RULE GENERATION DEVICE, MOVING BODY, AUTONOMOUS DRIVING SYSTEM, SAFETY RULE GENERATION METHOD, AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM STORING PROGRAM

A safety rule generation device includes: a processor; and a memory connected to the processor, wherein the processor is configured to: receive input of a plurality of control flows indicating state transitions of a plurality of moving bodies, respectively, the moving bodies operating in a predetermined scenario; generate an integrated control flow in which the plurality of control flows are integrated based on transition conditions assigned to the control flows; assign logical expression constraints that guarantee safety, to respective states included in the integrated control flow; and generate a safety rule based on the logical expression constraints.