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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    Title :

    Decision- Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering


    Contributors:


    Publication date :

    2018-11-01


    Size :

    1065014 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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