论文标题
通过针对自动城市驾驶的运动计划来解决对象的存在概率
Tackling Existence Probabilities of Objects with Motion Planning for Automated Urban Driving
论文作者
论文摘要
运动计划者将有关环境的不确定信息作为输入。环境信息通常很嘈杂，并且倾向于包含假阳性对象检测。最先进的运动策划者考虑所有对象，从而产生过度存在的行为。在本文中，我们提出了一种计划方法，该方法以联合方式考虑替代性演习，并计划由这些替代方案的概率形成的动议。拟议的计划者可以对存在概率低的对象平稳地反应，同时保持无碰撞，以防其存在证明。这样，它可以容忍因感知和预测而产生的断层，从而降低了它们对操作可靠性的影响。
Motion planners take uncertain information about the environment as an input. The environment information is often quite noisy and has a tendency to contain false positive object detection. State-of-the-art motion planners consider all objects alike, thus producing overcautious behavior. In this paper we present a planning approach that considers alternative maneuvers in a combined fashion and plans a motion that is formed by the probabilities of those alternatives. The proposed planner can smoothly react to objects with low existence probability while remaining collision-free in case their existence substantiates. In this way, it tolerates the faults arising from perception and prediction, thus reducing their impact on operational reliability.
