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.
@article{arxiv.2012.07170,
title = {Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering},
author = {Ömer Şahin Taş and Felix Hauser and Christoph Stiller},
journal= {arXiv preprint arXiv:2012.07170},
year = {2020}
}