In this paper, we propose a novel planning framework that can greatly improve the level of
intelligence and driving quality of autonomous vehicles. A reference planning layer first …

In a hierarchical motion planning system for urban autonomous driving, it is a common
practice to separate tactical reasoning from the lower-level trajectory planning. This …

This paper presents a practical trajectory planning framework towards fully autonomous
driving in urban environments. Firstly, based on the behavioral decision commands, a …

In this paper, a state space sampling-based local trajectory generation framework for
autonomous vehicles driving along a reference path is proposed. The presented framework …

In this paper, an efficient real-time autonomous driving motion planner with trajectory
optimization is proposed. The planner first discretizes the plan space and searches for the …

Path planning for autonomous vehicles in dynamic environments is an important but
challenging problem, due to the constraints of vehicle dynamics and existence of …

Conventional layered planning architecture temporally partitions the spatiotemporal motion
planning by the path and speed, which is not suitable for lane change and overtaking …

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 …

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

Research in the field of automated driving has created promising results in the last years.
Some research groups have shown perception systems which are able to capture even …