Belief State Planning for Autonomous Driving Planning with Interaction, Uncertain Prediction and Uncertain Perception

Belief State Planning for Autonomous Driving Planning with Interaction, Uncertain Prediction and Uncertain Perception

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This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive be...

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Bibliographic Details
Main Author: Hubmann, Constantin (auth)
Format: Electronic Book Chapter
Language:English
Published: Karlsruhe KIT Scientific Publishing 2021
Series:Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie
Subjects:
Mechanical engineering & materials
Autonomes Fahren
Entscheidungsfindung
Verhaltensgenerierung
Trajektorienplanung
Interaktion
Autonomous Driving
Decision Making
Behavior Planning
Trajectory Planning
Interactive Planning
Online Access:DOAB: download the publication
DOAB: description of the publication
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Summary:This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive behavior of the other agents explicitly. Simulating the most likely future scenarios allows to find an optimal policy online that enables non-conservative planning under uncertainty.
Physical Description:1 electronic resource (180 p.)
ISBN:KSP/1000122855
9783731510390
Access:Open Access

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