This paper presents a motion-planning framework for urban autonomous driving at
uncontrolled intersections. The intention and future state of the target vehicles are predicted …

This paper presents a model predictive trajectory optimization and tracking framework to
avoid collisions for autonomous vehicles in highly constrained environments. Firstly, a …

Autonomous vehicle technology is greatly valued nowadays, and an active collision
avoidance system is one of the key parts for autonomous driving. This study presents a …

Security problem is a fundamental issue for autonomous vehicles. Trajectory planning is a
significant component of autonomous vehicle system, which directly influences the …

Increasing focus is being paid to ensuring safety in autonomous driving. The current paper
addresses the challenge of collision avoidance with dynamic surrounding vehicles in …

Safety is the cornerstone of autonomous driving vehicles. For autonomously controlled
vehicles driving safely in complex and dynamic traffic scenarios, it is essential to precisely …

Emergency avoidance is an aggressive maneuver with high collision risk. This paper
presents an integrated decision making and motion control framework to achieve …

This paper deals with the planning of collision-free trajectory for autonomous vehicle on
highway. The problem is formulated using Model Predictive Control (MPC) where a …

A motion planning method for autonomous vehicles confronting emergency situations where
collision is inevitable, generating a path to mitigate the crash as much as possible, is …

This paper proposes a novel motion planning and tracking framework based on improved
artificial potential fields (APFs) and a lane change strategy to enhance the performance of …