Prediction & Planning - Robotics Institute Carnegie Mellon University

This project analyses the safety and interaction of moving objects in complex road scenes, using a prediction and planning framework. Rather than detecting specific, known, dangerous configurations, we simulate all the possible motion and interaction of objects. This simulation is used to detect dangerous situations, and to select the best path. The best path can be chosen according to a number of different criteria, such as: smoothest motion, largest avoiding distance, or quickest path. This framework can be applied, either as a driver warning system (open loop), or as an action recommendation system (human in the loop), or as an intelligent cruise control system (closed loop). This framework is evaluated using synthetic data, using simple and complex road scenes.