Design Space of Behaviour Planning for Autonomous Driving

Aravind Balakrishnan; Ashish Gaurav; Atrisha Sarkar; Fr\'ed\'eric Bouchard; Jaeyoung Lee; Krzysztof Czarnecki; Marko Ilievski; Ryan De Iaco; Sean Sedwards

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arxiv 1908.07931 v1 pith:I7QT2XF5 submitted 2019-08-21 cs.RO cs.AIcs.LGcs.SE

Design Space of Behaviour Planning for Autonomous Driving

Marko Ilievski , Sean Sedwards , Ashish Gaurav , Aravind Balakrishnan , Atrisha Sarkar , Jaeyoung Lee , Fr\'ed\'eric Bouchard , Ryan De Iaco

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Krzysztof Czarnecki

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classification cs.RO cs.AIcs.LGcs.SE

keywords designbehaviourplanningspaceautonomouschoicesdrivingwork

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We explore the complex design space of behaviour planning for autonomous driving. Design choices that successfully address one aspect of behaviour planning can critically constrain others. To aid the design process, in this work we decompose the design space with respect to important choices arising from the current state of the art approaches, and describe the resulting trade-offs. In doing this, we also identify interesting directions of future work.

Design Space of Behaviour Planning for Autonomous Driving

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