Decision-Making Based on Signal Temporal Logic for Ramp Merging and Diverging of Autonomous Vehicle

This work establishes Signal Temporal Logic specifications for the merging and diverging situations at ramp intersections of urban elevated roads. The specifications are based on Chinese traffic regulations and are set up with consideration of congestion and lane-changing situations occurring in urban scenarios. This work demonstrates that the efficiency and safety of traffic flow for the above scenarios are improved by the specifications. The feasibility of the method is demonstrated via a scenario experiment.