Extensive research has been done in the field of automated driving systems to reliably and accurately predict the motion of surrounding vehicles. Predicted occupancy regions are a suitable starting point for trajectory planning, criticality estimation, etc. However, interactions between traffic participants are difficult to predict due to their high complexity and mutual dependencies. This work proposes a novel approach for modeling these traffic interactions with the help of a Partially Observable Markov Decision Process (POMDP). A key component of the presented approach is that the resulting policy is not used for the control of the EGO vehicle. Instead, it is utilized for the generation of continuous predicted occupancy regions. The approach applies a particle ensemble approximation in order to solve the POMDP optimization. Hereby, the reward function is a central aspect to incorporate expert knowledge in the statistical framework. The potential of the proposed method is demonstrated using typical urban junction scenarios.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Interaction-aware Prediction of Occupancy Regions based on a POMDP Framework


    Contributors:


    Publication date :

    2022-10-08


    Size :

    922572 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Interaction-aware occupancy prediction of road vehicles

    Koschi, Markus / Althoff, Matthias | IEEE | 2017


    A System Health Aware POMDP Framework for Planetary Rover Traverse Evaluation and Refinement

    Balaban, Edward / Arnon, Tomer / Shirley, Mark H. et al. | AIAA | 2018


    Traffic Mirror-Aware POMDP Behavior Planning for Autonomous Urban Driving

    Zhang, Chi / Steinhauser, Florian / Hinz, Gereon et al. | IEEE | 2022


    A System Health Aware POMDP Framework for Planetary Rover Traverse Evaluation and Refinement (AIAA 2018-1150)

    Balaban, Edward / Arnon, Tomer / Shirley, Mark H. et al. | British Library Conference Proceedings | 2018


    Investigation of risk-aware MDP and POMDP contingency management autonomy for UAS

    Sharma, Prashin / Kraske, Benjamin / Kim, Joseph et al. | ArXiv | 2023

    Free access