Autonomous vehicle operation using linear temporal logic

A method of using one or more processors of a vehicle to store (1904) a Kripke structure representing a motion segment for operating the vehicle, wherein the motion segment comprises a plurality of spatiotemporal locations. For each spatiotemporal location of the plurality of spatiotemporal locations, a linear temporal logic expression based on the Kripke structure is evaluated (1908), wherein the linear temporal logic expression defines an operating constraint for operating the vehicle in accordance with the motion segment; responsive to a value of the linear temporal logic expression changing at the spatiotemporal location, a location marker within the Kripke structure is inserted (1912) at the spatiotemporal location to divide the motion segment into two different motion segments; an operational metric is assigned (1916) to each motion segment of the two different motion segments based on the location marker; and a trajectory for operating the vehicle based on the operational metric is determined (1920).