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Both humans and the sensors on an autonomous vehicle have limited sensingcapabilities. When these limitations coincide with scenarios involvingvulnerable road users, it becomes important to account for these limitations inthe motion planner. For the scenario of an occluded pedestrian crosswalk, thespeed of the approaching vehicle should be a function of the amount ofuncertainty on the roadway. In this work, the longitudinal controller isformulated as a partially observable Markov decision process and dynamicprogramming is used to compute the control policy. The control policy scalesthe speed profile to be used by a model predictive steering controller.

Autonomous Vehicle Speed Control for Safe Navigation of Occluded Pedestrian Crosswalk