Lexicographic Mixed-Integer Motion Planning with STL Constraints

Patrick Halder, Fabian Christ, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Autonomous vehicles are subject to various constraints, such as following the rules of the road (ROTR), adhering to schedules, or providing a comfortable driving experience. However, realizing a driving behavior complying with all constraints is challenging since it is not always possible to satisfy them simultaneously, necessitating the formulation of compromises. In this paper, we propose a solution to this challenge by decomposing the specification of an autonomous vehicle into a rulebook utilized by a novel optimization-based minimum - violation motion planner. In particular, our planner uses reachable sets to prevent collisions with other road users, and it minimally violates the ROTR formalized in signal temporal logic (STL). Furthermore, a mixed-integer convex program (MICP) realization of the planner is provided to demonstrate its effectiveness, especially in dynamically changing environments. We evaluate our approach using realistic ROTR on 1780 scenarios from the CommonRoad benchmark suite. Our results show that our planner generates safe and feasible trajectories, indicating its potential for real-world applications.

Original languageEnglish
Title of host publication2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1361-1367
Number of pages7
ISBN (Electronic)9798350399462
DOIs
StatePublished - 2023
Event26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 - Bilbao, Spain
Duration: 24 Sep 202328 Sep 2023

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
ISSN (Print)2153-0009
ISSN (Electronic)2153-0017

Conference

Conference26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023
Country/TerritorySpain
CityBilbao
Period24/09/2328/09/23

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