用逻辑规则统一约束自动驾驶路径规划，兼顾安全、合规与效率。
Autonomous Vehicles Path Planning under Temporal Logic Specifications
- 基于时序逻辑构建路径规划规范，整合多类约束条件。
- 支持实时环境更新下的动态路径调整，确保安全与合规。
- 适合需要高可靠性决策的自动驾驶系统研发者使用。
路径规划是自动驾驶的核心组件。全局规划器负责高层次规划，在已知地图上进行最短路径搜索，生成用于控制局部（低层）规划器的航点。局部规划器是一种运行在车辆上的实时验证方法，需反复计算短时视野内的最优路径，以安全高效地抵达目标航点。其挑战在于需持续处理环境信息的实时更新，并满足多种复杂要求：包括避障、遵守交通规则、符合监管要求，以及高效到达下一航点。本文提出一种基于逻辑的规范机制，可同时满足上述所有需求。
原文摘要 · Abstract (English)
Path planning is an essential component of autonomous driving. A global planner is responsible for the high-level planning. It basically performs a shortest-path search on a known map, thereby defining waypoints used to control the local (low-level) planner. Local planning is a runtime verification method which is repeatedly run on the vehicle itself in real-time, so as to find the optimal short-horizon path which leads to the desired waypoint in a way which is both efficient and safe. The challenge is that the local planner has to take into account repeatedly incoming updates about the information available of the environment. In addition, it performs a complex task, as it has to take into account a large variety of requirements, originating from the necessity of collision avoidance with obstacles, respecting traffic rules, sticking to regulatory requirements, and lastly to reach the next waypoint efficiently. In this paper, we describe a logic-based specification mechanism which fulfills all these requirements.
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