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&rsquo;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&rsquo;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>
Tags: turning mess