Joint multi-policy behavior estimation and receding-horizon trajectory planning for automated urban driving

Bingyu Zhou, Wilko Schwarting, Daniela Rus, Javier Alonso Mora

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 Citations (Scopus)
124 Downloads (Pure)

Abstract

When driving in urban environments, an autonomous vehicle must account for the interaction with other traffic participants. It must reason about their future behavior, how its actions affect their future behavior, and potentially
consider multiple motion hypothesis. In this paper we introduce a method for joint behavior estimation and trajectory planning that models interaction and multi-policy decisionmaking. The method leverages Partially Observable Markov Decision Processes to estimate the behavior of other traffic participants given the planned trajectory for the ego-vehicle, and Receding-Horizon Control for generating safe trajectories for the ego-vehicle. To achieve safe navigation we introduce chance constraints over multiple motion policies in the recedinghorizon planner. These constraints account for uncertainty over
the behavior of other traffic participants. The method is capable of running in real-time and we show its performance and good scalability in simulated multi-vehicle intersection scenarios.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation (ICRA 2018)
EditorsKevin Lynch
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages2388-2394
ISBN (Electronic)978-1-5386-3081-5
DOIs
Publication statusPublished - 2018
EventICRA 2018: 2018 IEEE International Conference on Robotics and Automation - Brisbane Convention & Exhibition Centre, Brisbane, Australia
Duration: 21 May 201825 May 2018

Conference

ConferenceICRA 2018: 2018 IEEE International Conference on Robotics and Automation
CountryAustralia
CityBrisbane
Period21/05/1825/05/18

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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