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Title:

Computing Specification-Compliant Reachable Sets for Motion Planning of Automated Vehicles

Document type:
Konferenzbeitrag
Author(s):
Irani Liu, Edmond; Althoff, Matthias
Pages contribution:
1037-1044
Abstract:
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 reachability 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-c...     »
Book / Congress title:
2021 IEEE Intelligent Vehicles Symposium (IV)
Publisher:
IEEE
Year:
2021
Fulltext / DOI:
doi:10.1109/IV48863.2021.9575739
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