Motion planning involves decision making among combinatorial maneuver variants in urban driving. A planner must consider uncertainties and associated risks of the maneuver variants, and subsequently select a maneuver alternative. In this paper we present a planning approach that considers the uncertainties in the prediction and, in case of high uncertainty, postpones the combinatorial decision making to a later time within the planning horizon. With our proposed approach, safe but at the same time not overconservative motion is planned.

翻译：运动规划涉及城市驾驶的组合操作变体的决策。 规划者必须考虑操纵变体的不确定性和相关风险,然后选择操作变体。 在本文中,我们提出了一个规划方法,考虑到预测中的不确定性,如果高度不确定性,则将组合决策推迟到规划范围内的稍后时间进行。 根据我们提出的方法,我们计划采取安全但同时又不过度保守的行动。