Computing Specification-Compliant Reachable Sets for Motion Planning of Automated Vehicles

To safely and effectively participate in road traffic, automated vehicles should explicitly consider compliance with traffic rules and high-level specifications. We propose a method that can incorporate traffic and handcrafted rules expressed in time-labeled propositional logic into our reach ability analysis, which computes the over-approximative set of states reachable by vehicles. These reachable sets serve as low-level trajectory planning constraints to expedite the search for specification-compliant trajectories. Depending on the adopted specifications, related semantic labels are generated from predicates considering positions, velocities, accelerations, and general traffic situations. We exhibit the applicability of the proposed method with scenarios from the CommonRoad benchmark suite.