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Geometrie und Topologie von Trajektorienoptimierung fuer vollautomatisches Fahren
Ruf, Miriam
2018
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In order to establish general principles in the topic of motion planning for fully-automated driving, an intuitive problem statement in the form of an Euler–Lagrange Model is derived and transformed into a corresponding Hidden Markov Model for global optimization. Geometric and topologic considerations lead to a probabilistic environment modelling in combination with the C² model and result in general conclusions about the structure of traffic situations.
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Keywords
- automated driving
- Automatisiertes Fahren
- maneuver planning
- Manöverplanung
- Optimierung
- optimization
- probabilistic environment modelling
- probabilistische Umweltmodellierung
- SPARC
Links
DOI: 10.5445/KSP/1000085281Editions