Trajectory Generation Using Temporal Logic and Tree Search

A system comprising:

• one or more processors;
• and
• a computer-readable medium storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
• generating a plurality of candidate trajectories for an autonomous vehicle;
• evaluating a candidate trajectory of the plurality of candidate trajectories using a temporal logic formula, the temporal logic formula based at least in part on an environment proximate to the autonomous vehicle;
• selecting, as a selected trajectory, the candidate trajectory based at least part on a result of the evaluating and on a cost associated with the candidate trajectory;
• and
• controlling the autonomous vehicle based at least in part on the selected trajectory.

A method comprising:

• generating a plurality of candidate trajectories for an autonomous vehicle;
• populating a tree search with a candidate trajectory of the plurality of candidate trajectories;
• evaluating the candidate trajectory using a temporal logic formula, the temporal logic formula based at least in part an environment proximate to the autonomous vehicle;
• selecting, as a selected trajectory, the candidate trajectory based at least part on a result of the evaluating and on a cost associated with the candidate trajectory;
• and
• controlling the autonomous vehicle based at least in part on the selected trajectory.

A non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform operations comprising:

• generating, based at least in part on a tree search, a plurality of candidate trajectories for an autonomous vehicle;
• evaluating a candidate trajectory of the plurality of candidate trajectories based at least in part an environment proximate to the autonomous vehicle;
• selecting, as a selected trajectory, the candidate trajectory based at least part on a result of the evaluating and on a cost associated with the candidate trajectory;
• and
• controlling the autonomous vehicle based at least in part on the selected trajectory.