Behavior tree. Turning a mess into a MES
<p>The dynamics behind this define how a vehicle makes decisions and thereby how it behaves on the road. Whenever a team member adds new conditions and behaviors, we need to be sure that they fit into the overall logic and won’t cause anything unexpected to happen on the road. The more modules, actions, and states we have, the more we need a readable and scalable control structure that clearly displays how any given behavior is executed. Such a structure is often called a Mission Execution System (MES).</p>
<p>I work for the Planning and Control department at Evocargo, and one of my tasks has been to select and build the MES for our multi-modular autonomous driving product. I’ll share my first-hand experience with that in this article and explain why Behavior Trees can be a good choice and when, how they work, and how I managed to get faster reactions from the system.</p>
<p><a href="https://medium.com/evocargo/behavior-tree-turning-a-mess-into-a-mes-cf3e53bf6b2a"><strong>Website</strong></a></p>