„… . Intell., 16(6):641–647, 1994. [7] M. Aeberhard. Object-Level Fusion for Surround Environment Perception …” „… Perception. IEEE Trans. Intell. Transp. Syst., 13(4):1717–1726, Dec. 2012. [9] Alphabet Inc. Alphabet Project …” „… . Asvadi, P. Peixoto, and U. Nunes. Detection and Tracking of Moving Objects Using 2.5D Motion Grids. In …”

„… 1 Introduction This thesis investigates the multi-sensor environment perception of mobile robots …” „… multi-sensor environment perception in general, followed by a short discussion of the challenges in that …” „… perception includes several tasks, for example, object instances have to be abstracted from the raw …”

„… – Umgebungswahrnehmung – Zustandsschätzung Keywords: Autonomous Vehicles – Data Association – Environment Perception …” „… Data Fusion Mobile robots require an accurate environment perception to plan intelligent maneuvers and …” „… Multi-Sensor Environment Perception . . . . . . . . . . . . . 2 1.3 Main Contribution and Outline of This Work …”

„… Object Tracking – a novel environment perception strategy that combines a multi-sensor multi-object …” „… perception applications. The implemented algorithm is actively used for the multi-sensor object tracking and …” „… strategy enables detecting arbitrary moving objects by their occupancy motion, without depending on …”

„… relative ego-movement, measured by motion sensors. The area of the relevant grid cells changes with the …” „… Fig. 2.1. Hence, this enables a greater perception range to the most critical area in the front …” „… this work. 2.3.3 Radar Measurement Grids Radar sensors are widely used in various perception systems …”

„… perception. The fundamental concept of the grid structure and discretization with the fixed odometry …” „… tracking. Since the primary application of this work is an online real-time environment perception as part …” „… the ego motion and obstacles passing closely to the sensors. For example, similar results occur at …”

„… between comfort perception and head motion. Whole Body Vibrations Humans perceive vibrations by …” „… the second study show a significant difference in comfort perception between attentive and …” „… comfort perception in passenger cars could be found. As a result, this research was performed to address …”

„… dabei auch auf neuen und unbekannten Pfaden gute Ergebnisse. Abstract Motion control, in particular …” „… capabilities, when facing unseen reference paths. 1 Introduction Besides perception and path planning …” „… , autonomous driving requires motion control strategies capable of keeping the vehicle on a reference path or …”

„… LONGITUDINAL TRAJECTORY SWARM The longitudinal motion is planned in terms of the vehicle speed and is described …” „… velocity trajectory by integration. 3.2 GENERATION OF LATERAL TRAJECTORY SWARM The lateral motion is …” „… change maneuver primarily depends on an accurate perception and future prediction of the environment …”

„… is used to map the translational inertia of the vehicle mass m into a simultaneous rotational motion …” „… rωw : rωw>v (driving) (16) The suspensions are modeled rigid. Hence, the vehicle’s longitudinal motion …” „… longitudinal motion. The authors in [18, 29] also model this degree of freedom (DOF). However, the models in …”

„… applications. Within Mobile Automation SICK offers comprehensive solutions for environmental perception, motion …” „… particular the SICK MRS1000 equipped with the weather hood. Besides the perception of the environment …” „… , information on the machine’s proper motion is crucial for precise navigation. As GPS information is not …”

„… tracked by IMM-UK-PDAFs with different motion models not merely to recursively estimate their states in …” „… random motion model. Tracks of real dynamic objects are cleared from the grid and integrated into the …” „… environments. On track level, the system’s motion classification capabilities showed persuasive precision …”

„… , Canada, Sept. 2006. [21] A. Barth. Vehicle Tracking and Motion Estimation Based on Stereo Vision …” „… . Particle Grid Tracking System Stereovision Based Obstacle Perception in Driving Environments. IEEE …” „… Mobile Robot Perception and Navigation. Computer, 22(6):46–57, 1989. [78] M. R. Endsley. Toward a Theory …”

„… tracking community and in Chapter 3 and 4. There, it characterizes all motion patterns that stand in …” „… contrast to benign, constant velocity motion. 134 6 Prediction and Criticality Assessment Figure 6.1 …” „… prediction Situation recognition and prediction Future motion cause System dynamics Human intention in …”

„… environment of a driving vehicle the motion parallax affects the depth perception. Running at some speed …” „… complex environments (e.g. multiple lanes at in-town complex intersections) the driver’s perception may …” „… visualize the environmental perception of the vehicle (e.g. indicating the intended driving path, recognized …”