Ensuring drivability of planned motions using formal methods

@article{Schrmann2017EnsuringDO,
  title={Ensuring drivability of planned motions using formal methods},
  author={Bastian Sch{\"u}rmann and Daniel Hess and Jan Eilbrecht and Olaf Stursberg and Frank K{\"o}ster and Matthias Althoff},
  journal={2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)},
  year={2017},
  pages={1-8}
}
Motion planning of automated vehicles requires dynamical models to ensure that obtained trajectories are drivable. An often overlooked aspect is that motion planning is usually done using simplified models, which do not always sufficiently conform to the real behavior of vehicles. Thus, collision avoidance and drivability is not necessarily ensured. We address this problem by modeling vehicles as differential inclusions composed of simple dynamics and set-based uncertainty; conformance testing… CONTINUE READING

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