Imperfect Knowledge in Autonomous Urban Traffic Manoeuvres

TL;DR

This paper extends the UMLSL framework to account for imperfect knowledge in autonomous urban traffic, proposing multi-view crossing controllers with broadcast communication to enhance safety during intersection maneuvers.

Contribution

It introduces the concept of multi-view and data-constrained broadcast communication for turning maneuvers under imperfect knowledge conditions.

Findings

Enhanced safety proofs with imperfect knowledge

Development of multi-view crossing controllers

Framework for data-constrained communication in traffic maneuvers

Abstract

Urban Multi-lane Spatial Logic (UMLSL) was introduced in [13] for proving safety (collision freedom) in autonomous urban traffic manoeuvres with perfect knowledge. We now consider a concept of imperfect knowledge, where cars have less information about other cars. To this end, we introduce the concept of a multi-view and propose crossing controllers using broadcast communication with data constraints for turning manoeuvres at intersections.