Path Planning for Autonomous Vehicle Turning at Intersections with Signal Temporal Logic Specifications

This work establishes signal temporal logic specifications for driving tasks that autonomous vehicle should execute when turning at intersections. The specifications are based on traffic regulations of China. By encoding signal temporal logic specifications as mixed-integer constraints, optimization problems could be established for path planning. By solving the problems with Gurobi optimizer, safe paths could be obtained. Through this work, it is demonstrated that signal temporal logic is a profound tool for formalizing driving tasks and solving path planning problems in autonomous driving. The feasibility of the proposed method is demonstrated via a numerical experiment.