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Geometrie und Topologie von Trajektorienoptimierung für vollautomatisches Fahren

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 considerati...

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Bibliographic Details
Main Author: Ruf, Miriam (auth)
Format: Electronic Book Chapter
Published: KIT Scientific Publishing 2018
Series:Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe
Subjects:
SPARC
probabilistic environment modelling
Optimierung
optimization
probabilistische Umweltmodellierung
maneuver planning
Manöverplanung
automated driving
automatisiertes Fahren
Online Access:DOAB: download the publication
DOAB: description of the publication
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Summary: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.
Physical Description:1 electronic resource (XVII, 253 p. p.)
ISBN:KSP/1000085281
9783731508328
Access:Open Access

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