… We define two kinds of planning states: environment states and action states. The …
Spatially-partitioned environmental representation and planning architecture for on-road autonomous …

… partitioned environmental representation in lateral and longitudinal direction, in which the
… by jointly forecasting behaviour patterns of all on-road vehicles. However, only the discrete …

… Spatially-partitioned environmental representation and planning architecture for on-road
autonomous driving. IEEE Intelligent Vehicles Symposium (IV), Los Angeles, CA, USA, pp. 632-…

… planning system that can react to the dynamic environment … The spatially partitioned method
aims to divide the 3D configu… fast trajectory planning in dynamic on-road driving scenarios,…

… A set of geometric shapes can also tightly enclose complex occupied regions in the
environment [16]–[18]. By enlarging occupancies of obstacles, we can consider bounded position …

… A spatially-partitioned planning architecture … In our simulation environment, the host vehicle
is represented by a … can work properly in several on-road driving scenarios. The runtime was …

… trajectory planning problem in the 2D dynamic environment … The spatiallypartitioned method
aims to divide the 3D space … fast trajectory planning in dynamic on-road driving scenarios,…

… the environment in time. A common environmental representation often used for on-road
driving … There, the vehicle environment consists of multiple lanes, which are represented by one …

… On-road decision-making and planning concern about how to … the local trajectory planning
for autonomous on-road driving. … This section states the on-road trajectory planning scheme …

… approach for on-road scenarios is provided, which can directly supply the coordinate and
velocity of each planning … Tomizuka, “SpatiallyPartitioned Environmental Representation and …