An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors

原文アブストラクト

One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated with various behavior modes, their probabilistic estimates are often inaccurate, thus leading to a possibly unsafe trajectory. To overcome this challenge, we propose a risk-aware motion planning framework that appropriately accounts for the ambiguity in the estimated probability distribution. We formulate the risk-aware motion planning problem as a min-max optimization problem and develop an efficient iterative method by incorporating a regularization term in the probability update step. Via extensive numerical studies, we validate the convergence of our method and demonstrate its advantages compared to the state-of-the-art approaches.