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

• Tác giả: Constantin Hubmann
• Ngôn ngữ: eng
• ISBN-13: 978-3731510390
• Thông tin xuất bản: Karlsruhe : KIT Scientific Publishing, 2021
• Mô tả vật lý: 1 electronic resource (180 p.)
• Bộ sưu tập: Tài liệu truy cập mở
• ID: 219075
• Chủ đề: 1. Mechanical engineering & materials

Tóm tắt

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.