TY - BOOK AU - Hubmann, Constantin PY - 2021 TI - Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception AB - This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive behavior of the other agents explicitly. Simulating the most likely future scenarios allows to find an optimal policy online that enables non-conservative planning under uncertainty.Umfang: XIV, 146 S.Preis: 41.00 € PB - KIT Scientific Publishing CY - Karlsruhe KW - Autonomes Fahren KW - Entscheidungsfindung KW - Verhaltensgenerierung KW - Trajektorienplanung KW - Interaktion KW - Autonomous Driving KW - Decision Making KW - Behavior Planning KW - Trajectory Planning KW - Interactive Planning SN - 978-3-7315-1039-0 DO - 10.5445/KSP/1000122855 SE - 180