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Geometrie und Topologie von Trajektorienoptimierung für vollautomatisches Fahren

Book Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe ISSN: 18636489 ISBN: 9783731508328 Year: Volume: 38 Pages: XVII, 253 p. DOI: 10.5445/KSP/1000085281 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-28 18:37:01

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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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