Abstract: A system for estimating a trajectory of a vehicle includes vehicle state sensors detecting a state of movement of the vehicle and environment sensors monitoring an environment of the vehicle. A free space module determines a free space corridor based on the detected state of movement of the vehicle and the monitored environment of the vehicle. A goal point determination module determines at least one goal point for the trajectory to be estimated based on the free space corridor. A trajectory planning module estimates a reference trajectory based on the at least one goal point and calculates a deviation between an actual trajectory and the reference trajectory of the vehicle. A trajectory control module minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and outputs optimal control parameters for the movement of the vehicle based on the minimized deviation.

Abstract: A system for estimating a trajectory of a vehicle includes vehicle state sensors detecting a state of movement of the vehicle and environment sensors monitoring an environment of the vehicle. A free space module determines a free space corridor based on the detected state of movement of the vehicle and the monitored environment of the vehicle. A goal point determination module determines at least one goal point for the trajectory to be estimated based on the free space corridor. A trajectory planning module estimates a reference trajectory based on the at least one goal point and calculates a deviation between an actual trajectory and the reference trajectory of the vehicle. A trajectory control module minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and outputs optimal control parameters for the movement of the vehicle based on the minimized deviation.

Abstract: A system for estimating a trajectory of a vehicle includes vehicle state sensors detecting a state of movement of the vehicle and environment sensors monitoring an environment of the vehicle. A free space module determines a free space corridor based on the detected state of movement of the vehicle and the monitored environment of the vehicle. A goal point determination module determines at least one goal point for the trajectory to be estimated based on the free space corridor. A trajectory planning module estimates a reference trajectory based on the at least one goal point and calculates a deviation between an actual trajectory and the reference trajectory of the vehicle. A trajectory control module minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and outputs optimal control parameters for the movement of the vehicle based on the minimized deviation.

Abstract: A method for predicting a motion of an object includes predicting the motion of the object based on predicted future sensor readings. The predicted future sensor readings are computed based on current measurement data of one or more range sensors.

Abstract: Method for estimating a steering torque, in particular for the lateral control of a vehicle, comprising the steps of detecting at least one signal on a current vehicle state and/or current vehicle environment, determining a desired steering angle by a steering control unit based on the at least one detected signal, estimating a vehicle lateral force on the basis of a tire dynamics model, including the determined steering angle as an input factor, estimating a vehicle lateral force on the basis of a lateral dynamics model, correcting the lateral force value estimated by the tire dynamics model on the basis of the lateral force value estimated by the lateral dynamics model, estimating a self-aligning torque based on the corrected lateral force value, and estimating a steering torque from the estimated self-aligning torque.

Abstract: A method for motion planning for autonomous moving objects (AMO) includes continuously computing or updating a time-dependent trajectory of an AMO to a destination by a computing device avoiding obstacles en route to the destination. The time-dependent trajectory is computed using one or more motion planning computation procedures. The method further includes performing a switching to another motion planning computation procedure when an obstacle is detected or not detected anymore. An obstacle is determined to be detected when a point on the computed trajectory lies within or touches a guard area (GA) around the obstacle. The border of the GA has a certain distance from the detected obstacle.

Abstract: Method for estimating a steering torque, in particular for the lateral control of a vehicle, comprising the steps of detecting at least one signal on a current vehicle state and/or current vehicle environment, determining a desired steering angle by a steering control unit based on the at least one detected signal, estimating a vehicle lateral force on the basis of a tire dynamics model, including the determined steering angle as an input factor, estimating a vehicle lateral force on the basis of a lateral dynamics model, correcting the lateral force value estimated by the tire dynamics model on the basis of the lateral force value estimated by the lateral dynamics model, estimating a self-aligning torque based on the corrected lateral force value, and estimating a steering torque from the estimated self-aligning torque.

Abstract: A method for predicting a motion of an object includes predicting the motion of the object based on predicted future sensor readings. The predicted future sensor readings are computed based on current measurement data of one or more range sensors.

Abstract: A method for motion planning for autonomous moving objects (AMO) includes continuously computing or updating a time-dependent trajectory of an AMO to a destination by a computing device avoiding obstacles en route to the destination. The time-dependent trajectory is computed using one or more motion planning computation procedures. The method further includes performing a switching to another motion planning computation procedure when an obstacle is detected or not detected anymore. An obstacle is determined to be detected when a point on the computed trajectory lies within or touches a guard area (GA) around the obstacle. The border of the GA has a certain distance from the detected obstacle.