多モーダル不確実性下の運転のための効率的なハイブリッドハード・ソフトSignal Temporal Logic MPC

原文アブストラクト

Motion planning for automated vehicles in interactive traffic has to simultaneously ensure safety, respect traffic rules, and maintain comfortable progress under multi-modal behavior uncertainty. Imposing all these requirements as hard constraints reduces feasibility, whereas treating them all as costs allows safety-critical requirements to be traded against progress. We propose a hybrid hard--soft Signal Temporal Logic (STL) MPC framework that optimizes a single shared ego trajectory against every retained behavior hypothesis: minimum-distance and speed predicates are imposed as explicit hard constraints, while soft STL robustness terms shape clearance, comfort, and interaction quality within the resulting feasible driving corridor. This retains robustness to discrete interaction modes without branch-specific contingent ego policies. We further identify substantial symbolic graph-construction overhead and introduce reachability-certified relevance screening and vectorized symbolic construction to reduce computational cost while preserving the feasible set and objective. Closed-loop Monte Carlo evaluation over six highway and intersection scenarios shows the highest strict success rate among the compared planners with no observed collisions or rule violations, at roughly a quarter of the planning latency of the unoptimized formulation. An ablation study separates the two layers: the hard constraints define the safety envelope, while the soft terms improve clearance and motion quality within it.