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Document type:
Konferenzbeitrag 
Author(s):
Stahl, Tim; Wischnewski, Alexander; Betz, Johannes; Lienkamp, Markus 
Title:
Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios 
Abstract:
Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to run with speeds up to 212 km/h. The planner is designed to generate an action set of multiple drivable trajectories, allowing an adjacent behavior planner to pick the most appropriate action for the global state in the scene. This method serves objectives such...    »
 
Keywords:
FTM Fahrdynamik 
Book / Congress title:
2019 IEEE Intelligent Transportation Systems Conference (ITSC) 
Publisher:
IEEE 
Date of publication:
01.10.2019 
Year:
2019 
Covered by:
Scopus 
Print-ISBN:
9781538670248 
Reviewed:
ja 
Language:
en 
TUM Institution:
Lehrstuhl für Fahrzeugtechnik