Method for generating trajectories (1, 2, 3) on a given track for several vehicles (M1, M2, M3) with given performance specifications while observing given driving requirements and a given performance criterion, characterized in that - the performance specifications of the vehicles used (M1, M2, M3) are selected, - Road information regarding the
route will be loaded, - based on the driving requirements, driving
scenario specifications are defined for each of the vehicles used (M1, M2, M3), - using the driving
scenario specifications, the
route is divided into fully specified segments for each of the vehicles used (M1, M2, M3) and independently solved by forward
simulation of the driving requirements, thereby obtaining boundary conditions for any remaining insufficiently specified segments of the
route, - for each of the insufficiently specified segments, a problem of
optimal control, based on a
physical model of the vehicle (M1, M2, M3) and constrained by the driving requirements, of minimizing the performance criterion is formulated and solved using nonlinear
programming and - the resulting trajectories (1, 2, 3) for each vehicle (M1, M2, M3) are merged at safe passing positions along the route and an execution sequence of the vehicles (M1, M2, M3) is determined by flow-shop termination.