Christian Gotte

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The paper at hand proposes a real-time capable approach to combined trajectory planning and control. One single prediction model is used to plan a feasible trajectory and to perform lateral guidance of the vehicle at the same time. Nonlinear model predictive control (NMPC) methods are applied to solve the optimal control problem, which incorporates(More)
A novel approach for combined trajectory planning and control is presented in this contribution. The developed method integrates optimal control theory and trajectory planning and leads to an active safety system, which is applicable for automated driving and can avoid collisions in critical situations. The Combined Planning and Control (CPC) algorithm(More)
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