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The graph edges correspond to center lines, along which a vehicle may drive. Parallel lanes are not modeled, instead extra edges are added for lane changes in discrete locations.

Waiting Mode

The program starts in a waiting mode. It will transition into the running mode, when the following conditions are met.

• Vehicle IPS observations were received for all expected vehicles.
• All vehicles could be matched to the graph. All vehicles must be close to a center-line and oriented correctly.

Running Mode

The route planning and collision avoidance runs independently of the vehicle's actual behaviour. It is assumed that the vehicles follow the reference trajectories with sufficient accuracy.

TODO ...