论文标题
基于密度的随机到达计算用于自动驾驶的占用预测
Density-based Stochastic Reachability Computation for Occupancy Prediction in Automated Driving
论文作者
论文摘要
我们通过直接求解闭环关节密度函数对流的基础传输偏微分方程，提出一个自动驾驶的占用预测的随机可及性计算框架。由此产生的非参数无网算计算基于沿特征曲线的集成，并允许在线计算随时间变化的碰撞概率。数值模拟突出了所提出的方法的范围。
We propose a stochastic reachability computation framework for occupancy prediction in automated driving by directly solving the underlying transport partial differential equation governing the advection of the closed-loop joint density functions. The resulting nonparametric gridless computation is based on integration along the characteristic curves, and allows online computation of the time-varying collision probabilities. Numerical simulations highlight the scope the proposed method.
