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Title:

Improved Occlusion Scenario Coverage with a POMDP-based Behavior Planner for Autonomous Urban Driving

Document type:
Konferenzbeitrag
Author(s):
Zhang, Chi; Steinhauser, Florian; Hinz, Gereon; Knoll, Alois
Abstract:
Safely driving through various occlusion scenarios in urban environments, such as bus stops or crosswalks, is challenging for autonomous vehicles (AVs). Improving the ability to handle more occlusion scenarios in urban environments is paramount when using AVs as shuttle buses. An AV could experience deadlock situations in very heavy occlusion scenarios with the worst-case assumption that potential occluded road users could suddenly emerge using maximal allowed velocity. In this study, we address...     »
Book / Congress title:
2021 IEEE International Intelligent Transportation Systems Conference (ITSC)
Publisher:
IEEE
Date of publication:
19.09.2021
Year:
2021
Pages:
593-600
Fulltext / DOI:
doi:10.1109/ITSC48978.2021.9564424
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