Belief State Planning for Autonomous Driving
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...
保存先:
| 第一著者: | |
|---|---|
| フォーマット: | Online |
| 言語: | 英語 |
| 出版事項: |
KIT Scientific Publishing
2021
|
| 主題: | |
| オンライン･アクセス: | ONIX_20211019_9783731510390_2 |
| タグ: |
タグなし, このレコードへの初めてのタグを付けませんか!
|
| 要約: | 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. |
|---|