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arXiv 2012.071702020-12-13cs.RO

Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering

FZI Research Center for Information Technology（FZI信息技术研究中心）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）

Ömer Şahin Taş, Felix Hauser, Christoph Stiller

备注：: 7 pages, 5 figures
发表信息：: 2018 21st International Conference on Intelligent Transportation Systems (ITSC)
DOI：: 10.1109/ITSC.2018.8569580

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英文摘要：

Motion planning involves decision making among combinatorial maneuver variants in urban driving. A planner must consider uncertainties and associated risks of the maneuver variants, and subsequently select a maneuver alternative. In this paper we present a planning approach that considers the uncertainties in the prediction and, in case of high uncertainty, postpones the combinatorial decision making to a later time within the planning horizon. With our proposed approach, safe but at the same time not overconservative motion is planned.

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