%0 Journal Article %A Christian Rathgeber and Franz Winkler and Xiaoyu Kang and Steffen Müller %D 2015 %J International Journal of Mechanical and Mechatronics Engineering %B World Academy of Science, Engineering and Technology %I Open Science Index 102, 2015 %T Optimal Trajectories for Highly Automated Driving %U https://publications.waset.org/pdf/10001526 %V 102 %X In this contribution two approaches for calculating optimal trajectories for highly automated vehicles are presented and compared. The first one is based on a non-linear vehicle model, used for evaluation. The second one is based on a simplified model and can be implemented on a current ECU. In usual driving situations both approaches show very similar results. %P 969 - 975