Belief State Planning for Autonomous Driving Planning with Interaction, Uncertain Prediction and Uncertain Perception
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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| Автор: | |
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| Формат: | Електронний ресурс Частина з книги |
| Мова: | Англійська |
| Опубліковано: |
Karlsruhe
KIT Scientific Publishing
2021
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| Серія: | Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie
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| Предмети: | |
| Онлайн доступ: | DOAB: download the publication DOAB: description of the publication |
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| Резюме: | 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. |
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| Фізичний опис: | 1 electronic resource (180 p.) |
| ISBN: | KSP/1000122855 9783731510390 |
| Доступ: | Open Access |