Designing Maneuver Automata of Motion Primitives for Optimal Cooperative Trajectory Planning

Trajectory planning techniques form a central step to enable autonomous driving. The motion primitives method generates an automaton of precomputed maneuvers with structure-exploiting properties. Thereby, the trajectory planning problem can be reduced to finding an admissible/optimal sequence of motion primitives. In this chapter, we present ways to designing maneuver automata based on different system models and on either analytical or data-based approaches for automaton generation. Moreover, numerical methods for computing optimal maneuvers are listed and we discuss graph-based planning techniques. A subsequent chapter shows the evaluation of motion primitives automata in the Cyber-Physical Mobility Lab.