MOTION PLANNING AND INTENTION PREDICTION FOR AUTONOMOUS DRIVING IN HIGHWAY SCENARIOS VIA GRAPHICAL MODEL-BASED FACTORIZATION

摘要

Aspects of the disclosure are related to a method and corresponding apparatus and computer-readable medium for planning a motion for a first vehicle, comprising: estimating past states (210) of an observed second vehicle in the vicinity of the first vehicle based on sensor inputs, predicting a future trajectory (220) of the second vehicle based on the estimated past states, planning a future trajectory (250) of the first vehicle based on the predicted future trajectory (220) of the second vehicle and a safety cost function, and driving the first vehicle to follow the planned trajectory (250).