Decision-Time Postponing Motion Planning for Combinatorial Uncertain Maneuvering

TL;DR

This paper introduces a motion planning approach for urban driving that postpones decision-making under high uncertainty to improve safety without excessive conservatism.

Contribution

It presents a novel planning method that delays combinatorial maneuver decisions when uncertainty is high, balancing safety and efficiency.

Findings

Effective postponement of decisions under uncertainty

Maintains safety without overconservatism

Improves urban driving maneuver planning

Abstract

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.