Towards Risk Minimizing Trajectory Planning in On-Road Scenarios
| Autor: | Erik Ward, John Folkesson |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Mathematical optimization Computer science business.industry 05 social sciences Inference Robotics 02 engineering and technology Computer Science::Robotics Prediction algorithms 020901 industrial engineering & automation Trajectory planning 0502 economics and business Graph (abstract data type) Artificial intelligence business |
| Zdroj: | Intelligent Vehicles Symposium |
| DOI: | 10.1109/ivs.2018.8500643 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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