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Being given the predicted motion of the traffic flow, the proposed semi-reactive planning strategy realizes all required long-term maneuver tasks (lane-changing, merging, distance-keeping, velocity-keeping, precise stopping, etc.) while providing short-term collision avoidance. The key to comfortable, human-like as well as physically feasible trajectories is the combined optimization of the lateral and longitudinal movements in street-relative coordinates with carefully chosen cost functionals and terminal state sets (manifolds). The performance of the approach is demonstrated in simulated traffic scenarios. <\/jats:p>","DOI":"10.1177\/0278364911423042","type":"journal-article","created":{"date-parts":[[2011,12,21]],"date-time":"2011-12-21T03:55:23Z","timestamp":1324439723000},"page":"346-359","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":235,"title":["Optimal trajectories for time-critical street scenarios using discretized terminal manifolds"],"prefix":"10.1177","volume":"31","author":[{"given":"Moritz","family":"Werling","sequence":"first","affiliation":[{"name":"Department of Applied Computer Science and Automation (AIA), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"},{"name":"BMW Group Research and Technology, Munich, Germany"}]},{"given":"S\u00f6ren","family":"Kammel","sequence":"additional","affiliation":[{"name":"Robert Bosch LLC Research and Technology Center, Palo Alto, California, USA"}]},{"given":"Julius","family":"Ziegler","sequence":"additional","affiliation":[{"name":"Department of Measurement and Control (MRT), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"}]},{"given":"Lutz","family":"Gr\u00f6ll","sequence":"additional","affiliation":[{"name":"Department of Applied Computer Science (IAI), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"}]}],"member":"179","published-online":{"date-parts":[[2011,12,20]]},"reference":[{"key":"bibr1-0278364911423042","doi-asserted-by":"crossref","unstructured":"Althoff M, Mergel A (2011) Comparison of markov chain abstraction and monte carlo simulation for the safety assessment of autonomous cars. 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