Simulation and Model Checking for Close to Realtime Overtaking Planning

نویسندگان

چکیده

Fast and reliable trajectory planning is a key requirement of autonomous vehicles. In this paper we introduce novel technique for the route an vehicle on straight rural road using Spin model checker. We show how can combine Spins ability to identify paths violating temporal properties with sensor information from 3D Unity simulation vehicle, plan perform consecutive overtaking manoeuvres traffic heavy road. This involves discretising sensory combining multiple sequential models Linear Time Temporal Logic specification generate error path. path provides action plan. The entire process takes place in close realtime no precomputed data specifically tailored individual scenarios. Our experiments demonstrate that simulated implementing our approach drive average at least 40km overtake 214 vehicles before experiencing collision, which usually caused by inaccuracies system. While proposed system has some drawbacks, believe demonstrates potentially powerful future tool efficient

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ژورنال

عنوان ژورنال: Electronic proceedings in theoretical computer science

سال: 2021

ISSN: ['2075-2180']

DOI: https://doi.org/10.4204/eptcs.348.2