交通規則に準拠した軌道修復：SMTと到達可能性解析によるアプローチ
Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis
自動運転車の計画軌道が交通規則に違反した場合に、ゼロから再計画するのではなく、SMTと集合ベース到達可能性解析を組み合わせて軌道を修復する手法を提案し、シミュレーションと実世界で有効性を示した。
著者: Yuanfei Lin, Zekun Xing, Xuyuan Han, Matthias Althoff
分類: cs.RO, cs.AI
原文アブストラクト
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.
