Graph-based context representation, environment modeling and information aggregation for automated driving

The Stadtpilot project aims at fully automated driving on Braunschweig's inner city ring road. The TU Braunschweig's research vehicle Leonie is one of the first vehicles having the ability of fully automated driving in real urban traffic scenarios. In this paper, we present our approaches for context representation and environment modeling for automated driving. The demonstrated approach allows to provide a simple and yet universal information storage layer for the development of complex driving applications. Moreover, we present our approach for aggregating and fusing information between dynamic traffic objects detected by the sensor systems and a-priori map information.