This paper presents a cost-based adaptive planning agent that is operating at the route-segment level of a deliberative hierarchical planning system for autonomous road driving. At this level, the planning agent is responsible for developing fundamental driving maneuvers that allow a vehicle to travel safely amongst moving and stationary objects. This is facilitated through the use of an incrementally expanded planning graph that provides the ability to implement a dynamic cost function. This cost function varies to comply with particular road, regional, or event driven situations, and when coupled with the incremental graph expansion allows for the agent to implement hard and soft system constraints.
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