This paper presents a hierarchical lane-changing trajectory planner based on the least
action principle for autonomous driving. Our approach aims to achieve reliable real-time …

Existing lane-changing (LC) algorithms in general prioritize self-interest above the benefits
of others. We argue that an autonomous vehicle should be socially responsible during lane …

Safe handling of automatic lane change and lane keeping in highway and inner city involves
the problem of generating traffic-adapted trajectories. Such environments present a number …

Trajectory planning is one of the key and challenging tasks in autonomous driving. This
paper proposes a novel method that dynamically plans trajectories, with the aim to achieve …

Current research on lane-changing trajectory planning typically focuses on the benefits of
the Subject Vehicle (SV), including factors such as lane-changing efficiency, comfort, and …

Automatic lane-changing is a complex and critical task for autonomous vehicle control.
Existing researches on autonomous vehicle technology mainly focus on avoiding obstacles; …

A novel trajectory planning method is proposed in this paper for lane change of autonomous
vehicle. Since it is difficult to accurately capture the trajectory of other vehicles, which means …

A safe trajectory planning for on-road autonomous driving is a challenging problem owing to
the variety and complexity of driving environments. The problem should involve the …

In order to minimize the impact of lane change (LC) maneuver on surrounding traffic
environment, a hierarchical automatic LC algorithm that could realize local optimum has …

This paper presents a hierarchical three-layer trajectory planning framework to realize real-
time collision avoidance under complex driving conditions. This is mainly ascribed to the …