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*Corr. Author’s Address: Robert Bosch, 2 Stoczek street, 1111 Budapest, Hungary, hegedus.ferenc@mail.bme.hu 148 trojniški vestnik Journal of Mechanical Engineering 63(2017)3, XXX-4 c 2017 Journal of Mechanical Engineering. All rights reserved. Original Scientific Paper — DOI: 10.5545/sv-jme.2017.4027 Received for review: 2016-11-04 Received revised form: 2017-01-14 Accepted for publication: 2017-02-12

Motion Planning for Highly Automated Road Vehicles with a Hybrid Approach Using Nonlinear Optimization and Artificial Neural Networks