This video shows the simulation results of the proposed approach at IV 2022: "Rule-Compliant Trajectory Repairing using Satisfiability Modulo Theories". Autonomous vehicles must comply with traffic rules. However, most motion planners do not explicitly consider all relevant traffic rules. Once traffic rule violations of an initially-planned trajectory are detected, there is often not enough time to replan the entire trajectory. To solve this problem, we propose to repair the initial trajectory by investigating the satisfiability modulo theories paradigm. The evaluation result shows that rule-compliant trajectory repairing is computationally efficient and widely applicable. The paper can be found at [ Ссылка ].
