Bouzidi, Mohamed-Khalil (Free University of Berlin, Continental AG), Derajic, Bojan (Continental AG; Technical University of Berlin), Goehring, Daniel (Freie Universität Berlin), Reichardt, Joerg (Continental AG)

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

Scheduled for presentation during the Regular Session "Motion planning" (ThBT9), Thursday, September 26, 2024, 15:50−16:10, Salon 17

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on October 8, 2024

Abstract

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.