This paper presents a hierarchical motion planning approach based on discrete optimization
method. Well-coupled longitudinal and lateral planning strategies with adaptability features …

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 hierarchical motion planning framework with a long
planning horizon for autonomous driving in structured environments. A 3D motion planning …

This paper presents self-adaptive motion prediction-based proactive motion planning for
autonomous driving in urban environments. In order to achieve fully autonomous driving in …

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 …

Motion planning for autonomous vehicles remains a challenge in urban road environments
with occlusions. In this study, we present a motion planning framework that prioritizes safety …

This paper proposes an optimized trajectory planner and motion planner framework, which
aim to deal with obstacle avoidance along a reference road for autonomous driving in …

Currently autonomous or self-driving vehicles are at the heart of academia and industry
research because of its multi-faceted advantages that includes improved safety, reduced …

Maneuver decision-making and trajectory planning play important roles in autonomous
driving since a safe and flexible decision module is indispensable for navigation. Typical …

Motion planning is one of the core modules for autonomous driving. Among the current
motion planning techniques, optimization-based methods have unique advantages since …