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

By:

Hubmann, Constantin [auth]

Material type: Article

ArticleLanguage: 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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Item type	Home library	Collection	Call number	Materials specified	Status	Date due	Barcode
Electronic-Books	OPJGU Sonepat- Campus	E-Books Open Access			Available

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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

English

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