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Belief State Planning for Autonomous Driving

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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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Publisher

: ., Karlsruhe, 2021

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ISBN/ISSN

9783731510390

Classification

NONE

Content Type

text

Media Type

computer

Carrier Type

online resource

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Specific Detail Info

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Statement of Responsibility

Hubmann, Constantin

Other Information

Cataloger

Heri

Source

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Validator

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Digital Object Identifier (DOI)

10.5445/KSP/1000122855

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