… This paper proposes an optimized trajectory planner and motion planner framework, which
… road for autonomous driving in unstructured environments. The trajectory planning problem …

… 1) Motion Planner: Motion planning for autonomous vehicles has been developed … autonomous
concept vehicles have their own motion planning to directly command a desired trajectory…

… This study focuses on the trajectory planning task for on-road autonomous driving. … integrated
local trajectory planning and tracking control framework for autonomous ground vehicles,” …

… motion planning framework in a hierarchical manner to achieve a balance between these
criteria. In the upper layer, a path-planning … and search the alternative path for the vehicle in a …

… of autonomous vehicles [7], [8]. In early years, studies on AV trajectory planning mainly focus
on … Therefore, we design and advocate a double-layer optimization framework. To be more …

… This work was supported by the Framework of the Equipex ROBOTEX, which was funded
by the French Government, through the program “Investments for the Future” managed by the …

… path planning methods are quite mature enough to meet the demands of the autonomous
ground vehicle… Section III will describe the adaptive tactical behaviour planner framework and …

… predictive trajectory planning framework to help autonomous vehicles plan future trajectories…
trajectory of the subject vehicle, predicted trajectories of other agents in the scene (eg, other …

… motions of vehicles could be carefully planned via a coordination center, and vehicles
themselves. Most existing investigations on vehicle motion planning focus on the ego vehicle [7]. …

… theory is the most natural framework for solving motion planning problems; however, … the
framework of optimal control theory [10,11]. Nonetheless, it is possible to solve simplified motion …