A Brief History of PRIDE

摘要

PRIDE (PRediction In Dynamic Environments) is a framework that provides an autonomous vehicle's planning system with information that it needs to perform path planning in the presence of moving objects. The underlying concept is based upon a multi-resolutional, hierarchical approach that incorporates multiple prediction algorithms into a single, unifying framework. This framework supports the prediction of the future location of moving objects at various levels of resolution, thus providing prediction information at the frequency and level of abstraction necessary for planners at different levels within the hierarchy. This paper presents the chronology of the development of the PRIDE framework. We describe the different prediction algorithms developed for moving object predictions. We provide details on different work performed specifically for each prediction algorithm and how these algorithms are used together to give better predictions. The chronology also relates the successive simulation packages and testbeds used in each step of the development of the PRIDE framework.