To enable autonomous vehicles to respond quickly to changes in the surrounding
environment and to generate safe and stable trajectory, we propose a safety-based …

This paper describes a lane-changing motion planning model for intelligent vehicles under
constraints of collision avoidance in dynamical driving environments. The key innovation is …

As a core part of an autonomous driving system, motion planning plays an important role in
safe driving. However, traditional model-and rule-based methods lack the ability to learn …

On-road trajectory planning is a direct reflection of an autonomous vehicle's intelligence
level when traveling on an urban road. The prevalent on-road trajectory planners include the …

For autonomous driving, vehicle motion planning in complex environment is always a
classic and intricate optimization problem which is highly nonlinear and non-convex. The …

Lane change is a basic and critical element of complicated driving maneuvers such as
overtaking, merging, and exit. Improper lane change is a primary cause for car crashes. This …

This paper presents a methodology of lane change motion planning based on spatio-
temporal corridor for autonomous driving in multi-vehicle traffic environments. The spatio …

Cooperative trajectory planning of connected autonomous vehicles (CAVs) generally admits
strong nonlinearity and non-convexity, rendering great difficulties in finding the optimal …

In the real-time decision-making and local planning process of autonomous vehicles in
dynamic environments, the autonomous driving system may fail to find a reasonable policy …

In the realm of autonomous vehicles (AVs), ensuring safe and effective motion planning is a
paramount and challenging task, particularly in complex and dynamic scenarios. To …