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Using evidential occupancy grid for vehicle trajectory planning under uncertainty with tentacles
2017
2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)
The uncertainty in environment perception is one of the challenges that we face in trajectory planning. For autonomous vehicle to be efficient, they need to be able to deal with this kind of uncertainty. In this work, we combine two existing frameworks: the Belief Functions to build evidential occupancy grid and clothoid tentacles for trajectory planning. First, we use evidential grids to represent the environment and the uncertainties which arise from ignorance and errors during the perception
doi:10.1109/itsc.2017.8317808
dblp:conf/itsc/MouhagirCTAG17
fatcat:wsiaxcgssbdmlke463fnvjnbyy