| CPC B60W 60/0025 (2020.02) [G01C 21/3407 (2013.01); G08G 1/166 (2013.01); G08G 1/20 (2013.01); B60W 2552/00 (2020.02)] | 18 Claims |
|
1. A method comprising:
storing, using one or more processors of a vehicle, a Kripke structure representing a motion segment for operating the vehicle, wherein the motion segment comprises a plurality of spatiotemporal locations;
for each spatiotemporal location of the plurality of spatiotemporal locations:
evaluating, using the one or more processors, a linear temporal logic expression based on the Kripke structure, wherein the linear temporal logic expression defines an operating constraint for operating the vehicle in accordance with the motion segment;
responsive to a value of the linear temporal logic expression changing at the spatiotemporal location, inserting, using the one or more processors, a location marker within the Kripke structure at the spatiotemporal location to divide the motion segment into two different motion segments;
assigning, using the one or more processors, an operational metric to each motion segment of the two different motion segments based on the location marker;
determining, using the one or more processors, a trajectory for operating the vehicle based on the operational metric; and
causing, using a control module of the vehicle, the vehicle to operate in accordance with the determined trajectory.
|