Autonomous Driving with Priority-Ordered STL Specifications Under Multimodal Uncertainty

原文アブストラクト

Autonomous vehicles must plan trajectories that satisfy multiple requirements, such as safety, traffic-rule compliance, and passenger comfort. However, in safety-critical scenarios, it is not always possible to satisfy all requirements simultaneously, necessitating their prioritization based on importance. At the same time, the uncertainty in the predicted trajectories of surrounding road users, such as other vehicles and pedestrians, must be explicitly accounted for. In this work, we propose an uncertainty-aware trajectory planning framework that incorporates a predefined priority ordering over Signal Temporal Logic (STL) specifications and preserves the induced lexicographic ordering under multimodal uncertainty. We implement this formulation with Model Predictive Path Integral (MPPI) control and demonstrate the effectiveness of our method on simulation scenarios, showing that our framework efficiently handles conflicting objectives under realistic multimodal uncertainty.