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Automated driving is a safety critical process, which requires complex decision making. In order to validate driving decisions, it is possible to maintain at all times a contingency maneuver, which transfers the vehicle to a safe standstill, if other decision making processes fail. In this paper we present a motion planner, which computes contingency maneuvers for an automated vehicle in a 0.1[s]...
Many planning approaches adhere to the two-tiered architecture consisting of a long-range, low fidelity global planner and a short-range high fidelity local planner. While this architecture works well in general, it fails in highly constrained environments where the available paths are limited. These situations amplify mismatches between the global and local plans due to the smaller set of feasible...
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