Providing safe, smooth, and efficient trajectories for autonomous vehicles has long been a
question of great interest in the field of autopiloting. In dynamic and ever-changing urban …

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 …

Trajectory planning is of vital importance to decision-making for autonomous vehicles.
Currently, there are three popular classes of cost-based trajectory planning methods …

Efficient trajectory planning for intelligent vehicles in dynamic environments is a non-trivial
task due to the diversity and complexity of driving scenarios. It requires the planner to be …

Multi-vehicle coordinated motion planning has always been challenged to safely and
efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial …

This paper presents an efficient hierarchical motion planning framework with a long
planning horizon for autonomous driving in structured environments. A 3D motion planning …

In this article, we present a spatiotemporal trajectory planning algorithm for emergency
obstacle avoidance. Utilizing obstacle and driving environment data from the sensing …

This paper focuses on the real-time trajectory planning problem for autonomous vehicles
driving in realistic urban environments. To solve the complex navigation problem, we adopt …

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 …

This paper presents an efficient and risk-aware search-optimization hierarchical trajectory
planning method for automated vehicles in different road structures. The proposed approach …