Rule-based Evaluation and Optimal Control for Autonomous Driving

by   Noushin Mehdipour, et al.

We develop optimal control strategies for autonomous vehicles (AVs) that are required to meet complex specifications imposed as rules of the road (ROTR) and locally specific cultural expectations of reasonable driving behavior. We formulate these specifications as rules, and specify their priorities by constructing a priority structure, called Total ORder over eQuivalence classes (TORQ). We propose a recursive framework, in which the satisfaction of the rules in the priority structure are iteratively relaxed in reverse order of priority. Central to this framework is an optimal control problem, where convergence to desired states is achieved using Control Lyapunov Functions (CLFs) and clearance with other road users is enforced through Control Barrier Functions (CBFs). We present offline and online approaches to this problem. In the latter, the AV has limited sensing range that affects the activation of the rules, and the control is generated using a receding horizon (Model Predictive Control, MPC) approach. We also show how the offline method can be used for after-the-fact (offline) pass/fail evaluation of trajectories - a given trajectory is rejected if we can find a controller producing a trajectory that leads to less violation of the rule priority structure. We present case studies with multiple driving scenarios to demonstrate the effectiveness of the algorithms, and to compare the offline and online versions of our proposed framework.


page 1

page 16


Rule-based Optimal Control for Autonomous Driving

We develop optimal control strategies for Autonomous Vehicles (AVs) that...

Real-Time Unified Trajectory Planning and Optimal Control for Urban Autonomous Driving Under Static and Dynamic Obstacle Constraints

Trajectory planning and control have historically been separated into tw...

MPC-based Motion Planning for Autonomous Truck-Trailer Maneuvering

Time-optimal motion planning of autonomous vehicles in complex environme...

Semi-Supervised Trajectory-Feedback Controller Synthesis for Signal Temporal Logic Specifications

There are spatio-temporal rules that dictate how robots should operate i...

Integrated Decision-Making and Control for Urban Autonomous Driving with Traffic Rules Compliance

In urban driving scenarios, autonomous vehicles are expected to conform ...

Intersection-Traffic Control of Autonomous Vehicles using Newton-Raphson Flows and Barrier Functions

This paper concerns an application of a recently-developed nonlinear tra...

Optimal strategies for the control of autonomous vehicles in data assimilation

We propose a method to compute optimal control paths for autonomous vehi...

Please sign up or login with your details

Forgot password? Click here to reset