Towards Risk Minimizing Trajectory Planning in On-Road Scenarios
Erik Ward, John Folkesson · 2018
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.