02077nam 2200469z- 450 9910504298903321202110201000122855(CKB)5590000000629490(oapen)https://directory.doabooks.org/handle/20.500.12854/72406(oapen)doab72406(EXLCZ)99559000000062949020202110d2021 |y 0engurmn|---annantxtrdacontentcrdamediacrrdacarrierBelief State Planning for Autonomous DrivingPlanning with Interaction, Uncertain Prediction and Uncertain PerceptionKarlsruheKIT Scientific Publishing20211 online resource (180 p.)Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie3-7315-1039-1 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.Belief State Planning for Autonomous DrivingMechanical engineering & materialsbicsscAutonomes FahrenAutonomous DrivingBehavior PlanningDecision MakingEntscheidungsfindungInteractive PlanningInteraktionTrajectory PlanningTrajektorienplanungVerhaltensgenerierungMechanical engineering & materialsHubmann Constantinauth1318436BOOK9910504298903321Belief State Planning for Autonomous Driving3033245UNINA