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arXiv · 1805.11833

PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians

Yuanfu Luo·Panpan Cai·Aniket Bera·David Hsu·Wee Sun Lee·Dinesh Manocha
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Abstract

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.

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Yuanfu Luo, Panpan Cai, Aniket Bera, David Hsu, Wee Sun Lee, Dinesh Manocha. 2018-05-30. PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians. https://arxiv.org/abs/1805.11833

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