In this paper, we present a complete, flexible and safe convex-optimization-based method to
solve speed planning problems over a fixed path for autonomous driving in both static and …

In this paper, we present a convex-optimization-based method to solve speed planning
problems over a fixed path for autonomous driving in both static and dynamic environments …

Velocity planning is an important module of autonomous driving, which aims to generate the
velocity profile given a reference path. However, most existing algorithms fail to adequately …

To efficiently generate safe trajectories for an autonomous vehicle in dynamic environments,
a layered motion planning method with decoupled path and speed planning is widely used …

In this paper, we present a novel convex optimization approach to address the minimum-
time speed planning problem over a fixed path with dynamic obstacle constraints and point …

Trajectory planning is one of the most important modules of the Autonomous Driving
Systems (ADSs), which aims to achieve a safe and comfortable interaction between the …

Under real-world driving conditions, connected and automated vehicles (CAVs) must plan
and follow an energy-optimal and collision-free speed trajectory with a high updating rate …

This paper presents an optimization-based collision avoidance trajectory generation method
for autonomous driving in free-space environments, with enhanced robustness, driving …

Trajectory planning in dynamic environments can be decomposed into two sub-problems: 1)
planning a path to avoid static obstacles, 2) then planning a speed profile to avoid dynamic …

Recent road trials have shown that guaranteeing the safety of driving decisions is essential
for the wider adoption of autonomous vehicle technology. One promising direction is to pose …