Ensuring Safety at Intelligent Intersections: Temporal Logic Meets Reachability Analysis
CoRR(2024)
Abstract
In this work, we propose an approach for ensuring the safety of vehicles
passing through an intelligent intersection. There are many proposals for the
design of intelligent intersections that introduce central decision-makers to
intersections for enhancing the efficiency and safety of the vehicles. To
guarantee the safety of such designs, we develop a safety framework for
intersections based on temporal logic and reachability analysis. We start by
specifying the required behavior for all the vehicles that need to pass through
the intersection as linear temporal logic formula. Then, using temporal logic
trees, we break down the linear temporal logic specification into a series of
Hamilton-Jacobi reachability analyses in an automated fashion. By successfully
constructing the temporal logic tree through reachability analysis, we verify
the feasibility of the intersection specification. By taking this approach, we
enable a safety framework that is able to automatically provide safety
guarantees on new intersection behavior specifications. To evaluate our
approach, we implement the framework on a simulated T-intersection, where we
show that we can check and guarantee the safety of vehicles with potentially
conflicting paths.
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Key words
Temporal Logic,Reachability Analysis,Vehicle Safety,Safety Guarantees,Linear Logic,Safety Framework,Collision,Computation Time,Computational Approaches,State Space,Path Planning,Speed Limit,Leaf Node,State Constraints,Safe Set,Traffic Rules,Set Of Vehicles,Reachable Set,Temporal Operators
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