Autonomous vehicles necessitate a delicate balance between safety, efficiency, and user preferences in trajectory planning. Existing traditional or learning-based methods face challenges in adequately addressing all these aspects. In response, this paper proposes a novel component termed the Logical Guidance Layer (LGL), designed for seamless integration into autonomous driving trajectory planning frameworks, specifically tailored for highway scenarios. The LGL guides the trajectory planning with a local target area determined through scenario reasoning, scenario evaluation, and guidance area calculation. Integrating the Responsibility-Sensitive Safety (RSS) model, the LGL ensures formal safety guarantees while accommodating various user preferences defined by logical formulae. Experimental validation demonstrates the effectiveness of the LGL in achieving a balance between safety and efficiency, and meeting user preferences in autonomous highway driving scenarios.

翻译：自动驾驶车辆在轨迹规划中需要在安全性、效率与用户偏好之间实现精细平衡。现有基于传统方法或学习的方法难以充分兼顾所有这些方面。为此，本文提出一种称为逻辑引导层（LGL）的新型组件，专为无缝集成至自动驾驶轨迹规划框架而设计，特别适用于高速公路场景。LGL通过场景推理、场景评估与引导区域计算确定的局部目标区域来引导轨迹规划。通过整合责任敏感安全（RSS）模型，LGL在适应由逻辑公式定义的各种用户偏好的同时，确保形式化的安全保证。实验验证表明，LGL在高速公路自动驾驶场景中能有效实现安全与效率的平衡，并满足用户偏好。