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MOTION PLANNING AND INTENTION PREDICTION FOR AUTONOMOUS DRIVING IN HIGHWAY SCENARIOS VIA GRAPHICAL MODEL-BASED FACTORIZATION
MOTION PLANNING AND INTENTION PREDICTION FOR AUTONOMOUS DRIVING IN HIGHWAY SCENARIOS VIA GRAPHICAL MODEL-BASED FACTORIZATION
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机译:基于图形化分解的高速公路场景自动驾驶运动计划与意图预测
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摘要
Aspects of the disclosure are related to a method, apparatus, and system for planning a motion for a first vehicle, comprising: estimating past states of an observed second vehicle based on sensor inputs; predicting a future trajectory of the second vehicle based on the estimated past states; planning a future trajectory of the first vehicle based on the predicted future trajectory of the second vehicle and a safety cost function; and driving the first vehicle to follow the planned trajectory.
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