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...
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| Κύριος συγγραφέας: | |
|---|---|
| Μορφή: | Online |
| Γλώσσα: | Αγγλικά |
| Έκδοση: |
KIT Scientific Publishing
2021
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| Θέματα: | |
| Διαθέσιμο Online: | ONIX_20211019_9783731510390_2 |
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| _version_ | 1869521043214827520 |
|---|---|
| author | Hubmann, Constantin |
| author_browse | Hubmann, Constantin |
| author_facet | Hubmann, Constantin |
| author_sort | Hubmann, Constantin |
| collection | Directory of Open Access Books |
| description | 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. |
| format | Online |
| id | doab-20.500.12854ir-72406 |
| institution | Directory of Open Access Books |
| language | eng |
| publishDate | 2021 |
| publishDateRange | 2021 |
| publishDateSort | 2021 |
| publisher | KIT Scientific Publishing |
| publisherStr | KIT Scientific Publishing |
| record_format | ojs |
| spelling | doab-20.500.12854ir-724062025-08-13T14:11:24Z Belief State Planning for Autonomous Driving Hubmann, Constantin Autonomes Fahren Entscheidungsfindung Verhaltensgenerierung Trajektorienplanung Interaktion Autonomous Driving Decision Making Behavior Planning Trajectory Planning Interactive Planning thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials 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. 2021-10-20T04:02:21Z 2021-10-20T04:02:21Z 2021-10-19T08:21:35Z 2021 book ONIX_20211019_9783731510390_2 ONIX_20211019_9783731510390_2 OCN: 1286905474 1613-4214 https://library.oapen.org/handle/20.500.12657/51091 9783731510390 https://directory.doabooks.org/handle/20.500.12854/72406 eng Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie open access image/jpeg image/jpeg image/jpeg image/jpeg n/a n/a n/a n/a https://library.oapen.org/bitstream/20.500.12657/51091/1/9783731510390.pdf https://library.oapen.org/bitstream/20.500.12657/51091/1/9783731510390.pdf https://library.oapen.org/bitstream/20.500.12657/51091/1/9783731510390.pdf https://library.oapen.org/bitstream/20.500.12657/51091/1/9783731510390.pdf KIT Scientific Publishing KIT Scientific Publishing 10.5445/KSP/1000122855 10.5445/KSP/1000122855 68fffc18-8f7b-44fa-ac7e-0b7d7d979bd2 9783731510390 AG Universitätsverlage KIT Scientific Publishing 180 Karlsruhe open access |
| spellingShingle | Autonomes Fahren Entscheidungsfindung Verhaltensgenerierung Trajektorienplanung Interaktion Autonomous Driving Decision Making Behavior Planning Trajectory Planning Interactive Planning thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials Hubmann, Constantin Belief State Planning for Autonomous Driving |
| title | Belief State Planning for Autonomous Driving |
| title_full | Belief State Planning for Autonomous Driving |
| title_fullStr | Belief State Planning for Autonomous Driving |
| title_full_unstemmed | Belief State Planning for Autonomous Driving |
| title_short | Belief State Planning for Autonomous Driving |
| title_sort | belief state planning for autonomous driving |
| topic | Autonomes Fahren Entscheidungsfindung Verhaltensgenerierung Trajektorienplanung Interaktion Autonomous Driving Decision Making Behavior Planning Trajectory Planning Interactive Planning thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials |
| topic_facet | Autonomes Fahren Entscheidungsfindung Verhaltensgenerierung Trajektorienplanung Interaktion Autonomous Driving Decision Making Behavior Planning Trajectory Planning Interactive Planning thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials |
| url | ONIX_20211019_9783731510390_2 |
| work_keys_str_mv | AT hubmannconstantin beliefstateplanningforautonomousdriving |