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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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Xehetasun bibliografikoak
Egile nagusia: Hubmann, Constantin (auth)
Formatua: Baliabide elektronikoa Liburu kapitulua
Hizkuntza:ingelesa
Argitaratua: Karlsruhe KIT Scientific Publishing 2021
Saila:Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie 47
Gaiak:
Mechanical engineering & materials
Autonomes Fahren
Entscheidungsfindung
Verhaltensgenerierung
Trajektorienplanung
Interaktion
Autonomous Driving
Decision Making
Behavior Planning
Trajectory Planning
Interactive Planning
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OAPEN Library: description of the publication
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Deskribapena
Gaia: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.
Deskribapen fisikoa:1 electronic resource (180 p.)
ISBN:KSP/1000122855
9783731510390
Sartu:Open Access

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