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

• Autore: Hubmann Constantin
• Pubblicazione: Karlsruhe, : KIT Scientific Publishing, 2021
• Descrizione fisica: 1 online resource (180 p.)
• Soggetto topico: Mechanical engineering & materials
• Soggetto non controllato: Autonomes Fahren; Autonomous Driving; Behavior Planning; Decision Making; Entscheidungsfindung; Interactive Planning; Interaktion; Trajectory Planning; Trajektorienplanung; Verhaltensgenerierung
• Sommario/riassunto: 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.
• Altri titoli varianti: Belief State Planning for Autonomous Driving
• Titolo autorizzato: Belief State Planning for Autonomous Driving
• ISBN: 1000122855
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910504298903321
• Lo trovi qui: Univ. Federico II