USING A LANE-STRUCTURED DYNAMIC ENVIRONMENT FOR RULE-BASED AUTOMATED CONTROL

Specifications are input, comprising: a plurality of lanes in an environment for a controlled system; a plurality of lane maneuvers associated with the plurality of lanes; a plurality of lane subconditions associated with the controlled system; and a rule set comprising a plurality of rules, wherein a rule in the rule set specifies a rule condition and a rule action to take when the rule condition is satisfied, wherein the rule condition comprises a corresponding set of lane subconditions, and wherein the rule action comprises a corresponding lane maneuver. The controlled system is automatically navigated dynamically, at least in part by: monitoring the plurality of lane subconditions; evaluating rule conditions associated with the plurality of rules in the rule set to determine one or more rules whose corresponding rule conditions has been met; and executing one or more lane maneuvers that correspond to the one or more determined rules.