Planning of Trajectories for an Automated Vehicle

Abstract

A driver assistance system for an automated vehicle comprising a perception unit, a planning unit, an acting unit, and an adversarial unit. The perception unit creates an environment model of the vehicle’s surroundings. The adversarial unit provides a set of hypotheses about the environment based on this model. The planning unit determines a trajectory for the vehicle based on the environment model and the set of hypotheses. The acting unit then guides the vehicle along the planned trajectory.

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