Traffic-Rule-Aware Reachability Analysis for Motion Planning of Automated Vehicles

尽管尊重交通规则的重要性，但大多数以前关于自动驾驶汽车运动规划的工作都忽略了交通规则或无法考虑其中的大部分。原因之一是，大多数交通规则不能直接制定为运动规划器的约束。但复杂的规则需要形式化为时态逻辑公式。到目前为止，还没有一种方法可以精确或近似地将时序逻辑公式重写为约束，以便它们可以直接用于基于优化的运动规划算法。我们的建议正好解决了这个开放的研究问题。我们将开发新的方法来重写时序逻辑公式，使它们可以有效地用于运动规划。此外，我们将首次开发方法来计算考虑交通规则的可达集。这将使我们能够开发出新的方法，用于可达性分析和运动规划的协同设计，同时考虑到交通规则。我们希望，我们的新方法，交通规则的运动计划将得到更快，更关键的情况是。此外，我们将自动忽略不太重要的交通规则，以确保在紧急情况下遵守更重要的规则。我们将展示我们的方法，不仅在模拟，而且与我们的新的研究车辆埃德加，这已部分由DFG主要研究仪器补助金资助。

Despite the importance of respecting traffic rules, most previous works on motion planning for autonomous vehicles ignore traffic rules or are not able to consider most of them. One of the reasons is that most traffic rules cannot be directly formulated as constraints for a motion planner. Exceptions exist, such as keeping the speed limit, but complicated rules require the formalization as temporal logic formulas. So far, there is no approach that can exactly or approximately rewrite temporal logic formulas as constraints so that they can be directly used in optimization-based motion planning algorithms. Our proposal addresses exactly this open research problem. We will develop novel methods to rewrite temporal logic formulas so that they can be efficiently used in motion planners. Furthermore, we will develop for the first time methods to compute reachable sets that consider traffic rules. This will enable us to develop essentially new methods for the co-design of reachability analysis and motion planning considering traffic rules. We expect that with our novel approach, traffic-rule-compliant motion plans will be obtained the faster, the more critical the situation is. In addition, we will automatically ignore less important traffic rules in order to ensure the compliance with more important rules in critical situations. We will demonstrate our approach not only in simulation, but also with our new research vehicle EDGAR, which has been partially financed by a DFG Major Research Instrumentation grant .