群衆中の自動運転のための歩行者モデリングと計画
PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians
歩行者の意図と周囲との相互作用を考慮した歩行者運動予測モデルPORCAを構築し、POMDP計画と組み合わせて群衆中を安全かつ円滑に走行する自動運転システムを実現した。
著者: Yuanfu Luo, Panpan Cai, Aniket Bera, David Hsu, Wee Sun Lee, Dinesh Manocha
分類: cs.RO
原文アブストラクト
This paper presents a planning system for autonomous driving among many pedestrians. A key ingredient of our approach is PORCA, a pedestrian motion prediction model that accounts for both a pedestrian's global navigation intention and local interactions with the vehicle and other pedestrians. Unfortunately, the autonomous vehicle does not know the pedestrian's intention a priori and requires a planning algorithm that hedges against the uncertainty in pedestrian intentions. Our planning system combines a POMDP algorithm with the pedestrian motion model and runs in near real time. Experiments show that it enables a robot vehicle to drive safely, efficiently, and smoothly among a crowd with a density of nearly one person per square meter.
