This paper presents a hierarchical trajectory planning based on the integration of a sampling
and an optimization method for urban autonomous driving. To manage a complex driving …

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 …

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 …

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 …

Driving in a human-like manner is important for an autonomous vehicle to be a smart and
predictable traffic participant. To achieve this goal, parameters of the motion planning …

This paper presents the design and first test on a simulator of a vehicle trajectory-planning
algorithm that adapts to traffic on a lane-structured infrastructure such as highways. The …

Autonomous driving is one of the promising technologies to tackle traffic accident and
congestion problems nowadays. Even though an autonomous vehicle is operated without …

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 …

On-road motion planning for autonomous vehicles is in general a challenging problem. Past
efforts have proposed solutions for urban and highway environments individually. We …

This paper introduces an efficient motion planning method for on-road driving of the
autonomous vehicles, which is based on the rapidly exploring random tree (RRT) algorithm …