Trajectory planning in action – Driving in a parking lot

In the driving video you can see the car planning its path and velocity for the next 10 seconds (white line).
It avoids static objects (white/red-glowing) and follows its route (blue river) while respecting the vehicles capabilities and making steering smooth and comfortable. The colorful dots show every explored state from which a global optimum is chosen. The height is representing the velocity. Objects are constantly added (clicked) to make the situation difficult for the planner.

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