Conventional layered planning architecture temporally partitions the spatiotemporal motion
planning by the path and speed, which is not suitable for lane change and overtaking …

Perception, planning, and control are three enabling technologies to achieve autonomy in
autonomous driving. In particular, planning provides vehicles with a safe and collision-free …

Autonomous vehicle requires a general planner for all possible scenarios. Existing
researches design such a planner by a unified scenario description. However, it may …

On-road motion planning for autonomous vehicles is in general a challenging problem. Past
efforts have proposed solutions for urban and highway environments individually. We …

Autonomous driving systems (ADSs) need to be able to respond quickly to changes in the
dynamic traffic scenario. However, regardless of the changes occurring in traffic scenes, the …

In order to achieve smooth autonomous driving in real-life urban and highway environments,
a motion planner must generate trajectories that are locally smooth and responsive …

This paper presents a practical trajectory planning framework towards fully autonomous
driving in urban environments. Firstly, based on the behavioral decision commands, a …

Motion planning algorithms, an essential part of the autonomous driving system, have been
extensively studied. However, in large-scale complex scenarios, how to develop an optimal …

In this paper, we propose a novel planning framework that can greatly improve the level of
intelligence and driving quality of autonomous vehicles. A reference planning layer first …

The vision of autonomous driving is piecewise becoming reality. Still the problem of
executing the driving task in a safe and comfortable way in all possible environments, for …