论文标题
组合不确定操纵的决策时间推迟运动计划
Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering
论文作者
论文摘要
运动计划涉及在城市驾驶中组合操作变体之间的决策。计划者必须考虑操纵变体的不确定性和相关风险，然后选择一个操纵替代方案。在本文中，我们提出了一种计划方法，该方法考虑了预测中的不确定性，并且在高度不确定性的情况下，将组合决策推迟到计划范围内的稍后时间。采用我们提出的方法，安全但同时又计划了过度保守的动议。
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.
