Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis

• URL: http://arxiv.org/abs/2412.15837v1
• Date: Fri, 20 Dec 2024 12:26:22 GMT
• Title: Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis
• Authors: Yuanfei Lin, Zekun Xing, Xuyuan Han, Matthias Althoff,
• Abstract summary: Complying with traffic rules is challenging for automated vehicles.<n>We propose a trajectory repair technique to save time.<n> Experiments in high-fidelity simulators and in the real world demonstrate the benefits of our proposed approach.
• Score: 6.5301153208275675
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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