The computational effort of trajectory planning for automated vehicles often increases with
the complexity of the traffic situation. This is particularly problematic in safety-critical …

We develop a real-time feasible mixed-integer programming-based decision-making (MIP-
DM) system for automated driving (AD). Using a linear vehicle model in a road-aligned …

The demand for efficient solvers of complicated combinatorial optimization problems,
especially those classified as NP-complete or NP-hard, has recently led to increased …

The nonlinear vehicle dynamics and the non-convexity of collision avoidance constraints
pose major challenges for optimization-based trajectory planning of automated vehicles …

Despite large advances in recent years, real-time capable motion planning for autonomous
road vehicles remains a huge challenge. In this work, we present a decision module that is …

Maneuver decision-making and trajectory planning play important roles in autonomous
driving since a safe and flexible decision module is indispensable for navigation. Typical …

Traffic situations with interacting participants pose difficulties for today's autonomous
vehicles to interpret situations and eventually achieve their own mission goal. Interactive …

We describe the design and validation of a decision-making system in the guidance and
control architecture for automated driving. The decision-making system determines the …

To realize a market entry of autonomous vehicles in the foreseeable future, the behavior
planning system will need to abide by the same rules that humans follow. Product liability …

This article proposes a novel cooperative motion planning and decision-making approach
for connected and automated vehicles (CAVs) at unsignalized intersections, where a …