Vehicle operation using behavioral rule checks

A method in which first and second sensor data is received 1904 from first and second sensors of a vehicle, the first sensor data representing operation of the vehicle in accordance with a first trajectory and the second sensor data representing at least one object. It is determined 1908 that the first trajectory violates a first behavioural rule of operation based on the first sensor data and the second sensor data. The first behavioural rule has a first priority. Multiple alternative trajectories are generated 1912 using control barrier functions. A second trajectory is identified 1916 that violates a second behavioural rule having a second priority less than the first priority. Responsive to identifying the second trajectory, a message is transmitted 1920 to a control circuit of the vehicle to operate the vehicle based on the second trajectory.

Vehicle operation using behavioral rule checks