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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.

Random Route Selection

TODOFor each vehicle a random route is selected. This route is dynamically extended as time progresses. The route is represented as a list of edge indices. Since every edge is part of a cycle, the route can be extended indefinitely.

Source: https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/d48cf9c589cd8375b7ea147d7931ed0f29650278/central_routing_example/src/VehicleTrajectoryPlanningState.cpp#L90

Speed Profile + Path => Trajectory

TODO

Collision Avoidance

TODO

To be continued ...