Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866909830376062976 |
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| author | Lin, Yuanfei Xing, Zekun Han, Xuyuan Althoff, Matthias |
| author_facet | Lin, Yuanfei Xing, Zekun Han, Xuyuan Althoff, Matthias |
| contents | Complying with traffic rules is challenging for automated vehicles, as numerous rules need to be considered simultaneously. If a planned trajectory violates traffic rules, it is common to replan a new trajectory from scratch. We instead propose a trajectory repair technique to save computation time. By coupling satisfiability modulo theories with set-based reachability analysis, we determine if and in what manner the initial trajectory can be repaired. Experiments in high-fidelity simulators and in the real world demonstrate the benefits of our proposed approach in various scenarios. Even in complex environments with intricate rules, we efficiently and reliably repair rule-violating trajectories, enabling automated vehicles to swiftly resume legally safe operation in real time. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_15837 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis Lin, Yuanfei Xing, Zekun Han, Xuyuan Althoff, Matthias Robotics Artificial Intelligence Complying with traffic rules is challenging for automated vehicles, as numerous rules need to be considered simultaneously. If a planned trajectory violates traffic rules, it is common to replan a new trajectory from scratch. We instead propose a trajectory repair technique to save computation time. By coupling satisfiability modulo theories with set-based reachability analysis, we determine if and in what manner the initial trajectory can be repaired. Experiments in high-fidelity simulators and in the real world demonstrate the benefits of our proposed approach in various scenarios. Even in complex environments with intricate rules, we efficiently and reliably repair rule-violating trajectories, enabling automated vehicles to swiftly resume legally safe operation in real time. |
| title | Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2412.15837 |