Specification-Compliant Motion Planning of Cooperative Vehicles Using Reachable Sets

Automated vehicles must comply explicitly with specifications, including traffic-based and handcrafted rules, in order for them to safely and effectively participate in mixed traffic. In addition to driving individually, there are many traffic situations in which cooperation between vehicles maximizes their collective benefits, including preventing collisions. To realize these benefits, we compute specification-compliant reachable sets for vehicles, i.e., sets of states which can be reached by vehicles over time that are constrained by a set of considered specifications. We summarize and combine our previous works on computing specification-compliant reachable sets and negotiating conflicting reachable sets within a group of cooperating vehicles. As a result, conflicts between specification-compliant reachable sets of vehicles are resolved, and specification-compliant trajectories can be individually planned for each vehicle within the negotiated reachable sets using arbitrary motion planners.