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M. Sc. Lukas Köhrer

Research Associate
Group: 

FZI


Phone: +49 721 9654-189
koehrerAsh8∂fzi de

FZI Forschungszentrum Informatik

Haid-und-Neu-Str. 10–14

76131 Karlsruhe, Germany



Curriculum Vitae

Lukas Köhrer studied electrical engineering and information technology at the Karlsruhe Institute of Technology (KIT) with a focus on control systems (Bachelor in 2015). He collected practical experiences in the design of trajectory tracking controllers for driverless transportation systems at the pre-development division of SEW-EURODRIVE GmbH & Co. KG. In 2018 he concluded his studies with his master thesis on the design and stability analysis of a holistic model predictive vehicle dynamics control for a four-wheel drive, four-wheel steering vehicle at the Institute of Control Systems (IRS).

Since January 2019, he is working as a research scientist at the department Control in Information Technology (CIT) in the research division Embedded Systems and Sensors Engineering (ESS) at the FZI Research Center for Information Technology.

Research

Predictive and Combined Lateral and Longitudinal Motion Planning for Highly Automated Vehicles

Highly automated driving systems have to cover a high number of time-critical driving scenarios. Thus, trajectory-based approaches are used for motion planning and control, because these approaches are formally capable of handling all relevant driving maneuvers. Existing optimization-based approaches are currently constrained to a subset of all relevant maneuvers or the physical coupling of lateral and longitudinal motion is neglected in the planning step, due to high computational effort. To overcome these deficiencies, we are developing novel optimization-based approaches for combined lateral and longitudinal motion planning.

 

Teaching

Open Theses
Title Type
Bachelor Thesis


Current Theses
Title Type Person in Charge
Master Thesis

Nina Majer

Master Thesis

Liutao Zhou



Publications


2016
Interval Modelling of a Voltage Source Inverter.
Krebs, S.; Köhrer, L.; Hohmann, S.
2016. 8th IET International Conference on Power Electronics, Machines and Drives (PEMD 2016), Glasgow, United Kingdom, 19-21 April 2016, 1–6, Curran Associates, Inc, Red Hook, NY. doi:10.1049/cp.2016.0336
A New Modelling and Identification Approach for Guaranteed Inclusion of a Voltage Source Inverter’s Output Voltages.
Krebs, S.; Köhrer, L.; Hohmann, S.
2016. ICCAIS 2016 - International Conference on Control Automation & Information Sciences, October 27-29, 2016, Ansan, Korea, IEEE, Piscataway (NJ). doi:10.1109/ICCAIS.2016.7822445