Belief State Planning for Autonomous Driving
Overview & Synopsis
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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Document Information
| Document Title | Belief State Planning for Autonomous Driving |
|---|---|
| Author / Organization | Hubmann, Constantin |
| Subject & Discipline | Autonomes Fahren |
| Categories | Open Access Books |
| Publication Year | 2021 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
Directory of Open Access Books
(www.doabooks.org)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-93492 |
| Original Source Link | Visit Source Page on www.doabooks.org » |