Automatic Synthesis via Tulip of an Autonomous Vehicle Controller Ensuring Collision Avoidance

An automated trajectory planning approach is presented in this work to incorporate the logical decision-making phase of a Cooperative Collision Avoidance (CCA) system and to avoid design errors caused by traditional methods. The linear temporal logic, which is an expressive language of temporal logic, is used to write specifications and automatically synthesize a logical controller strategy for a vehicle. This results in a specification-correct control automaton. The trajectory is represented by a sequence of acceptable states respecting the specification. This automaton is implemented using a controller which generates reference signals to be followed by the vehicle. The performance of this approach is tested using the so-called elk test.