Paper ID: 2412.15837

Traffic-Rule-Compliant Trajectory Repair via Satisfiability Modulo Theories and Reachability Analysis

Yuanfei Lin, Zekun Xing, Xuyuan Han, Matthias Althoff

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.

Submitted: Dec 20, 2024