Belief State Planning For Autonomous Driving Planning With Interaction Uncertain Prediction And Uncertain Perception
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Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception
| Author | : Hubmann, Constantin |
| Publisher | : KIT Scientific Publishing |
| Total Pages | : 178 |
| Release | : 2021-09-13 |
| Genre | : Technology & Engineering |
| ISBN | : 3731510391 |
Download Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception Book in PDF, Epub and Kindle
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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