Implementation of Trajectory Planning for Automated Driving Systems using Constraint Logic Programming

Christian Wriedt, Christoph Beierle

Abstract

Automated driving systems are a maturing technology that is considered to have a significant impact on mobility. Trajectory Planning is a safety-critical task that plays an important role in automated driving systems. In this paper, we present the implementation of a trajectory planning module called CLPTP (CLPTRAJECTORYPLANNER) using constraint logic programming (CLP) and evaluate it in simulated traffic situations. CLP allows us to express the constraints of the problem of trajectory planning in a declarative way. The approach makes the code less complex and more readable for domain experts compared to code using an imperative programming language. Compared to approaches making use of neural networks to manage the complexity of the problem of trajectory planning, the results of CLPTP are more comprehensible and easier to verify. Thus CLPTP can be seen as a step towards solving the problem of trajectory planning with explainable artificial intelligence. An evaluation of the execution time performance of our implementation shows that further research is needed to apply the approach in real world vehicles.

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Paper Citation


in Harvard Style

Wriedt C. and Beierle C. (2019). Implementation of Trajectory Planning for Automated Driving Systems using Constraint Logic Programming.In Proceedings of the 11th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-350-6, pages 411-418. DOI: 10.5220/0007257904110418


in Bibtex Style

@conference{icaart19,
author={Christian Wriedt and Christoph Beierle},
title={Implementation of Trajectory Planning for Automated Driving Systems using Constraint Logic Programming},
booktitle={Proceedings of the 11th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2019},
pages={411-418},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007257904110418},
isbn={978-989-758-350-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Implementation of Trajectory Planning for Automated Driving Systems using Constraint Logic Programming
SN - 978-989-758-350-6
AU - Wriedt C.
AU - Beierle C.
PY - 2019
SP - 411
EP - 418
DO - 10.5220/0007257904110418