Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios
Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios
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 …