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Belief State Planning for Autonomous Driving Planning with Interaction, Uncertain Prediction and Uncertain Perception
Materialtyp:
ArtikelSerie: Utgivningsinformation: Karlsruhe KIT Scientific Publishing KIT Scientific Publishing [Imprint] 2021Beskrivning: 1 electronic resource (180 p.)Innehållstyp: - text
- computer
- online resource
- 9783731510390
- Technology, Engineering, Agriculture, Industrial processes
- Mechanical engineering and materials
- Agriculture
- Autonomes Fahren
- Autonomous Driving
- Behavior Planning
- Decision Making
- Engineering
- Entscheidungsfindung
- Industrial processes
- Interactive Planning
- Interaktion
- T Technology
- TG Mechanical engineering and materials
- Trajectory Planning
- Trajektorienplanung
- Verhaltensgenerierung
- thema EDItEUR
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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 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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Creative Commons Licence cc by-sa cc http://creativecommons.org/licenses/by-sa/4.0
eng
Freely available e-book