There is a strong trend for increasingly sophisticated Advanced Driver Assistance Systems
(ADAS) such as Autonomous Emergency Braking (AEB) systems, Lane Keeping Aid (LKA) …

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 …

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 …

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 …

This paper considers the problem of optimal trajectory generation for autonomous driving
under both continuous and logical constraints. Classical approaches based on continuous …

Autonomous driving in urban environments depends on the ability to interpret the current
situation and to react accordingly. This means to continuously make decisions for certain …

Recently, automated driving has more and more been transformed from an exciting vision
into hands on reality by prototypes. While drivers are used to assistance and maybe even …

This paper presents a path-planning strategy for autonomous vehicles which aims to provide
safe and feasible manoeuvres in various driving environments. Our strategy uses a …

We present a motion planner for autonomous on-road driving, especially on highways. It
adapts the idea of a on-road state lattice. A focused search is performed in the previously …

It is of utmost importance for automatic collision avoidance systems to correctly evaluate the
risk of a current situation and constantly decide, if and what kind of evasive maneuver must …