Efficient Hybrid Hard--Soft Signal Temporal Logic MPC for Driving under Multimodal Uncertainty

Motion planning for automated vehicles in interactive traffic has to simultaneously ensure safety, respect traffic rules, and maintain comfortable progress under multi-modal behavior uncertainty. Imposing all these requirements as hard constraints reduces feasibility, whereas treating them all as costs allows safety-critical requirements to be traded against progress.

Aus dem Abstract. Unsere Zusammenfassung folgt.