Trajectory planning for Bertha — A local, continuous method

@article{Ziegler2014TrajectoryPF,
  title={Trajectory planning for Bertha — A local, continuous method},
  author={Julius Ziegler and Philipp Bender and Thao Dang and Christoph Stiller},
  journal={2014 IEEE Intelligent Vehicles Symposium Proceedings},
  year={2014},
  pages={450-457}
}
In this paper, we present the strategy for trajectory planning that was used on-board the vehicle that completed the 103 km of the Bertha-Benz-Memorial-Route fully autonomously. We suggest a local, continuous method that is derived from a variational formulation. The solution trajectory is the constrained extremum of an objective function that is designed to express dynamic feasibility and comfort. Static and dynamic obstacle constraints are incorporated in the form of polygons. The constraints… CONTINUE READING
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