自動運転の計画における不確実性を考慮した予測と応用：定義・手法・比較
Uncertainty-Aware Prediction and Application in Planning for Autonomous Driving: Definitions, Methods, and Comparison
短期・長期の偶然的不確実性と認識的不確実性を同時にモデル化する予測・計画フレームワークを提案し、CommonRoadベンチマークで既存手法より高精度・高信頼な計画を実現した。
著者: Wenbo Shao, Jiahui Xu, Zhong Cao, Hong Wang, Jun Li
分類: cs.RO
原文アブストラクト
Autonomous driving systems face the formidable challenge of navigating intricate and dynamic environments with uncertainty. This study presents a unified prediction and planning framework that concurrently models short-term aleatoric uncertainty (SAU), long-term aleatoric uncertainty (LAU), and epistemic uncertainty (EU) to predict and establish a robust foundation for planning in dynamic contexts. The framework uses Gaussian mixture models and deep ensemble methods, to concurrently capture and assess SAU, LAU, and EU, where traditional methods do not integrate these uncertainties simultaneously. Additionally, uncertainty-aware planning is introduced, considering various uncertainties. The study's contributions include comparisons of uncertainty estimations, risk modeling, and planning methods in comparison to existing approaches. The proposed methods were rigorously evaluated using the CommonRoad benchmark and settings with limited perception. These experiments illuminated the advantages and roles of different uncertainty factors in autonomous driving processes. In addition, comparative assessments of various uncertainty modeling strategies underscore the benefits of modeling multiple types of uncertainties, thus enhancing planning accuracy and reliability. The proposed framework facilitates the development of methods for UAP and surpasses existing uncertainty-aware risk models, particularly when considering diverse traffic scenarios. Project page: https://swb19.github.io/UAP/.
