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

By: Material type: ArticleArticleLanguage: English Publication details: Karlsruhe KIT Scientific Publishing 2021Description: 1 electronic resource (180 p.)ISBN:
  • KSP/1000122855
  • 9783731510390
Subject(s): Online resources: Summary: 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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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.

Creative Commons by-sa/4.0 cc http://creativecommons.org/licenses/by-sa/4.0

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