In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learning-based motion predictors output multi-modal predictions. We present our novel framework that leverages Branch Model Predictive Control(BMPC) to account for these predictions. The framework includes an online scenario-selection process guided by topology and collision risk criteria. This efficiently selects a minimal set of predictions, rendering the BMPC real-time capable. Additionally, we introduce an adaptive decision postponing strategy that delays the planner's commitment to a single scenario until the uncertainty is resolved. Our comprehensive evaluations in traffic intersection and random highway merging scenarios demonstrate enhanced comfort and safety through our method.


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    Title :

    Motion Planning Under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control


    Contributors:


    Publication date :

    2024-09-24


    Size :

    2760280 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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