Trajectory planning for autonomous vehicles should attempt to minimize expected risk given noisy sensor data and uncertain predictions of the near future. In this paper, we present a trajectory planning approach for on-road scenarios where we use a graph search approximation. Uncertain predictions of other vehicles are accounted for by a novel inference technique that allows efficient calculation of the probability of dangerous outcomes for set of modeled situation types.
Towards Risk Minimizing Trajectory Planning in On-Road Scenarios
2018-06-01
1142801 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
TRAJECTORY PLANNING FOR AUTOMATED VEHICLES IN OVERTAKING SCENARIOS
British Library Conference Proceedings | 2019
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