Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering
This work addresses the problem of safe and efficient motion planning for autonomous vehicles in urban environments, particularly when facing high uncertainty.
This paper addresses motion planning in urban driving by proposing an approach that postpones combinatorial decision-making when prediction uncertainty is high. This method aims to achieve safe motion without being overly conservative.
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.