Optimal Trajectories for Highly Automated Driving

In this contribution two approaches for calculating optimal trajectories for highly automated vehicles are presented and compared. The first one is based on a non-linear vehicle model, used for evaluation. The second one is based on a simplified model and can be implemented on a current ECU. In usual driving situations both approaches show very similar results.

Authors:

• Christian Rathgeber
• Franz Winkler
• Xiaoyu Kang
• Steffen Müller

Keywords:

• Trajectory planning
• direct method
• indirect method
• highly automated driving.

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