Optimale Trajektorienplanung für Automobile

• Hoofdauteur: Ziegler, Julius (auth)
• Formaat: Elektronisch Hoofdstuk
• Gepubliceerd in: KIT Scientific Publishing 2017
• Reeks: Schriftenreihe / Institut für Mess- und Regelungstechnik, Karlsruher Institut für Technologie
• Onderwerpen: Technology: general issues; Fahrzeugregelung; advanced driver assistance systems; trajectory planning; robotics; Fahrerassistenzsysteme; vehicle control; Autonomes Fahren; Trajektorienplanung; Robotik; autonomous driving
• Online toegang: DOAB: download the publication; DOAB: description of the publication

This work describes trajectory planning for autonomous driving. It treats continuous methods, which converge to a local optimum, as well as combinatorial methods, which are globally optimal. It is shown by analysis and experimentally, that both approaches are suitable for autonomous driving, but cov...