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• W2953240024 abstract "Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the nonlinear system dynamics within the optimization problem to be solved. In particular, real-time feasibility is essential for automated driving, in order to account for the fast changing surrounding, e.g. for moving objects. The key contributions of this paper are the presentation of a fast optimization algorithm for trajectory planning including the nonlinear system model. Further, a new concurrent operation scheme for two optimization algorithms is derived and investigated. The proposed algorithm operates in the submillisecond range on a standard PC. As an exemplary scenario, the task of driving along a challenging reference course is demonstrated." @default.
• W2953240024 created "2019-06-27" @default.
• W2953240024 creator A5021957729 @default.
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• W2953240024 date "2018-07-29" @default.
• W2953240024 modified "2023-09-28" @default.
• W2953240024 title "Fast Trajectory Planning for Automated Vehicles using Gradient-based Nonlinear Model Predictive Control" @default.
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• W2953240024 hasPublicationYear "2018" @default.
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