A Rule-Based Behaviour Planner for Autonomous Driving
<|reference_start|>A Rule-Based Behaviour Planner for Autonomous Driving: Autonomous vehicles require highly sophisticated decision-making to determine their motion. This paper describes how such functionality can be achieved with a practical rule engine learned from expert driving decisions. We propose an algorithm to create and maintain a rule-based behaviour planner, using a two-layer rule-based theory. The first layer determines a set of feasible parametrized behaviours, given the perceived state of the environment. From these, a resolution function chooses the most conservative high-level maneuver. The second layer then reconciles the parameters into a single behaviour. To demonstrate the practicality of our approach, we report results of its implementation in a level-3 autonomous vehicle and its field test in an urban environment.<|reference_end|>
@article{frederic2024a,
    title={A Rule-Based Behaviour Planner for Autonomous Driving},
    author={Bouchard Frederic, Sedwards Sean, Czarnecki Krzysztof},
    journal={Rules and Reasoning (2022) 263-279},
    year={2024},
    doi={10.1007/978-3-031-21541-4_17},
    archivePrefix={arXiv},
    eprint={2407.00460},
    primaryClass={cs.AI cs.RO}
}