Tutorial on Sampling-based POMDP-planning for Automated Driving

Henrik Bey, Maximilian Tratz, Moritz Sackmann, Alexander Lange, Jörn Thielecke

2020

Abstract

Behavior planning of automated vehicles entails many uncertainties. Partially Observable Markov Decision Processes (POMDP) are a mathematical framework suited for formulating the arising sequential decision problems. Solving POMDPs used to be intractable except for overly simplified examples, especially when execution time is of importance. Recent sampling-based solvers alleviated this problem by searching not for the exact but rather an approximated solution, and made POMDPs usable for many real-world applications. One of these algorithms is the Adaptive Belief Tree (ABT) algorithm which will be analyzed in this work. The scenario under consideration is an uncertain obstacle in the way of an automated vehicle. Following this example, the setup of POMDP and ABT is derived and the impact of important parameters is assessed in simulation. As such, this work provides a hands-on tutorial, giving insights and hints on how to overcome the pitfalls in using sampling-based POMDP solvers.

Paper Citation

in Harvard Style

Bey H., Tratz M., Sackmann M., Lange A. and Thielecke J. (2020). Tutorial on Sampling-based POMDP-planning for Automated Driving.In Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-419-0, pages 312-321. DOI: 10.5220/0009344703120321

in Bibtex Style

@conference{vehits20,
author={Henrik Bey and Maximilian Tratz and Moritz Sackmann and Alexander Lange and Jörn Thielecke},
title={Tutorial on Sampling-based POMDP-planning for Automated Driving},
booktitle={Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2020},
pages={312-321},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009344703120321},
isbn={978-989-758-419-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Tutorial on Sampling-based POMDP-planning for Automated Driving
SN - 978-989-758-419-0
AU - Bey H.
AU - Tratz M.
AU - Sackmann M.
AU - Lange A.
AU - Thielecke J.
PY - 2020
SP - 312
EP - 321
DO - 10.5220/0009344703120321