PORCA: Modeling and Planning for Autonomous Driving Among Many Pedestrians
PORCA: Modeling and Planning for Autonomous Driving Among Many Pedestrians
This letter presents a planning system for autonomous driving among many pedestrians. A key ingredient of our approach is Pedestrian Optimal Reciprocal Collision Avoidance, a pedestrian motion prediction model that accounts for both a pedestrian's global navigation intention and local interactions with the vehicle and other pedestrians. Unfortunately, the autonomous …