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Title:

Rule-Compliant Trajectory Repairing using Satisfiability Modulo Theories

Document type:
Konferenzbeitrag
Author(s):
Lin, Yuanfei; Althoff, Matthias
Pages contribution:
449-456
Abstract:
Autonomous vehicles must comply with traffic rules. However, most motion planners do not explicitly consider all relevant traffic rules. Once traffic rule violations of an initially-planned trajectory are detected, there is often not enough time to replan the entire trajectory. To solve this problem, we propose to repair the initial trajectory by investigating the satisfiability modulo theories paradigm. This framework makes it efficient to reason whether and how the trajectory can be repaired a...     »
Keywords:
autonomous driving; traffic rules; motion planning; trajectory repairing
Book / Congress title:
2022 IEEE Intelligent Vehicles Symposium (IV)
Year:
2022
Fulltext / DOI:
doi:10.1109/IV51971.2022.9827357
WWW:
https://ieeexplore.ieee.org/document/9827357
 BibTeX