用逻辑与可达性分析修复违规轨迹，提升自动驾驶响应速度。
Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis
- 结合SMT求解与集合可达性分析，判断轨迹是否可修复
- 在高保真仿真和真实场景中均实现高效可靠修复
- 适合需实时合规的自动驾驶系统开发
自动化车辆遵守交通规则极具挑战，因需同时考虑大量规则。当规划轨迹违反规则时，通常需从头重新规划。本文提出一种轨迹修复技术，以节省计算时间。通过将满足性模理论（SMT）与基于集合的可达性分析相结合，我们能够判断初始轨迹是否可修复及其修复方式。在高保真仿真器及真实世界中的实验表明，该方法在多种场景下均具优势，即使在规则复杂、环境复杂的条件下，也能高效且可靠地修复违规轨迹，使自动驾驶车辆实时恢复合法安全运行。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。