Interpretable Goal-based Prediction and Planning for Autonomous Driving
Stefano V. Albrecht Cillian Brewitt John Wilhelm Balint Gyevnar Francisco Eiras Mihai Dobre Subramanian Ramamoorthy Stefano V. Albrecht Cillian Brewitt John Wilhelm Balint Gyevnar Francisco Eiras Mihai Dobre Subramanian Ramamoorthy
We propose an integrated prediction and planning system for autonomous driving which uses rational inverse planning to recognise the goals of other vehicles. Goal recognition informs a Monte Carlo Tree Search (MCTS) algorithm to plan optimal maneuvers for the ego vehicle. Inverse planning and MCTS utilise a shared set of defined maneuvers and macro actions to construct plans which are explainable ...