Acknowledgm ents
This thesis and the corresponding research was completed with the Technische Universit¨at
Dortmund in cooperation with the BMW Group Research and Technology in Munich,
Germany.
First and foremost I would like to thank Univ.-Prof. Dr.-Ing. Prof. h.c. Dr. h.c. Torsten
Bertram for advising this thesis and guiding me through the pr ocess of undergoing the
research an d writing the thesis. I am grateful for his many insights, advice and suggestions
while completing the thesis. Additionally I would like to thank Univ.-Prof. Dr. - In g. Hans-
Joachim W¨unsche of the Universit¨at der Bun d eswehr for taking over the role as second
examiner.
I would like to thank Dr.-Ing. Dirk Wisselmann, Dr.-Ing. Helmut Sp a n n h ei m er and
Dr.-Ing. Nico Kaempchen for givin g me the chance to writ e my thesis in cooperation with
the BMW Group a n d giving me the opport u n i ty to begin my career in the exciting and
fulfilling field of autonomous driving.
My sincere thanks go in particula r to Dr.-In g . Nico Kaempchen, who served as my
technical adviser at BMW during the time as a doctoral stu d e nt. Without his guidance,
insights, experience and encouragement during the scores of meetings, discussions and test
drives, this thesis would not have been possible.
Additionally I would like to thank my f el l ow colleagues and doctor a l students at BMW
with whom many exciting projects were completed: Michael Ardelt, Mohammad Bahram,
Martin Friedl, Thomas Hofmann, Florian Homm, Pei-Shih Huang, Werner Huber, Horst
Kl¨oden, Thomas K¨uhbeck, Yves Pilat, Andreas Rauch, S e b ast i a n Rauch, Bernhard Seidl,
Georg Tanzmeist er , Julian Thomas, Peter Waldmann and Moritz Werling. I am also
grateful for the excellent contributions of all my bach el or /m a st er /d i p l o m a thesis stude nts:
Christopher Bayer, Sebastian Dingler, Sascha Paul, Marcin Rabiega, Stefan Schlichth¨arle
and Jin q u an Zheng.
My experience with BMW began at the manufacturing plant in Spartanburg, South
Carolina as a coopera t i ve educa t i on intern while studyi n g at the Georgia Institute of
Technology in Atlanta, GA. For this opportunity, I am thankful to Russell Levesque, my
adviser during the intern s h i p . I am also thankful to Prof. D r. Markus Krug, now a
Professor at the Uni versity of Applied Sciences Munich, for giving me the opportunity to
do an international internship at BMW Motorsport in Munich, Germany, which sparked
my interest i n working for the automotive ind u s tr y in Germany. I would also l i ke to thank
Dr.-Ing. Marc Muntzinger for giving me the opportunity to complete my master thesis
at Daimler AG in Ulm, Germany, where I first gained experience in the field of driver
assistance systems.
I am very grateful and forever inde b te d to my parents, Brigitte Aeberha r d a n d Peter
Aeberhard, for th e i r continued support throughout my life and always beli ev i n g in me
during my endeavors.
Last but not least I would like to thank my wife Rabea for her love, support and en-
couragement du r i n g the final stretches of comp l et i n g this thesis.
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