Open Access Book
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Geometrie und Topologie von Trajektorienoptimierung für vollautomatisches Fahren

Author: Ruf, Miriam
Source: Directory of Open Access Books
Publisher: KIT Scientific Publishing
ISBN: 9783731508328
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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.