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.


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    Titel :

    Towards Risk Minimizing Trajectory Planning in On-Road Scenarios


    Beteiligte:
    Ward, Erik (Autor:in) / Folkesson, John (Autor:in)


    Erscheinungsdatum :

    2018-06-01


    Format / Umfang :

    1142801 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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