To safely and effectively participate in road traffic, automated vehicles should explicitly consider compliance with traffic rules and high-level specifications. We propose a method that can incorporate traffic and handcrafted rules expressed in time-labeled propositional logic into our reach ability analysis, which computes the over-approximative set of states reachable by vehicles. These reachable sets serve as low-level trajectory planning constraints to expedite the search for specification-compliant trajectories. Depending on the adopted specifications, related semantic labels are generated from predicates considering positions, velocities, accelerations, and general traffic situations. We exhibit the applicability of the proposed method with scenarios from the CommonRoad benchmark suite.
Computing Specification-Compliant Reachable Sets for Motion Planning of Automated Vehicles
2021 IEEE Intelligent Vehicles Symposium (IV) ; 1037-1044
2021-07-11
2552210 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Specification-Compliant Reachability Analysis for Motion Planning of Automated Vehicles
TIBKAT | 2024
|Computing Reachable Sets of Differential Inclusions
Springer Verlag | 2014
|