Development, Verification and KPI Analysis of Infrastructure-Assisted Trajectory Planners

Martin Rudigier, Selim Solmaz*, Georg Nestlinger, Kailin Tong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


Automated vehicles are expected to cause a paradigm shift in mobility and the way we travel. Particularly, the increasing penetration rates of vehicles with automated driving functions will introduce new challenges such as excessive rutting. Lack of wheel wander and keeping to the lane center perfectly is expected to lead to excessive road surface depression induced by automated vehicle platoons. Inspired by this, the EU project ESRIUM investigates infrastructure assisted routing recommendations. In this respect, specially designed ADAS functions are being developed with capabilities to adapt their behavior according to specific routing recommendations, which will help to reduce rutting as well as to improve safety. The current paper presents three rule-based trajectory planner design alternatives for a representative use case and, their performance comparisons based on a simulation framework.

Original languageEnglish
Title of host publicationICCVE 2022 - IEEE International Conference on Connected Vehicles and Expo
Number of pages6
ISBN (Electronic)978-166541687-0
Publication statusPublished - 9 Mar 2022
Event2022 International Conference on Connected Vehicle and Expo: IEEE ICCVE 2022 - Hybrider Event, United States
Duration: 7 Mar 20229 Mar 2022


Conference2022 International Conference on Connected Vehicle and Expo
Abbreviated titleIEEE ICCVE 2022
Country/TerritoryUnited States
CityHybrider Event


  • ADAS/AD functions
  • Automated vehicles
  • CITS
  • Infrastructure assistance
  • IVIM
  • Routing recommendations

ASJC Scopus subject areas

  • Control and Optimization
  • Safety, Risk, Reliability and Quality
  • Computer Science Applications
  • Automotive Engineering

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