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

We present a framework for robust autonomous driving motion planning system in urban
environments which includes trajectory refinement, trajectory interpolation, avoidance of …

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 …

Autonomous vehicles (AVs) must share the driving space with other drivers and often
employ conservative motion planning strategies to ensure safety. These conservative …

Intelligent vehicles (IVs) have gained worldwide attention due to their increased
convenience, safety advantages, and potential commercial value. Despite predictions of …

Real-time kinodynamic trajectory planning in dy-namic environments is critical yet
challenging for autonomous driving. In this paper, we propose an efficient trajectory plan …

With the progress of autonomous driving technology, obtaining a safe and smooth trajectory
in complex environments is the focus of motion planning in recent years. This paper …

In this manuscript, we introduce a real-time motion planning system based on the Baidu
Apollo (open source) autonomous driving platform. The developed system aims to address …

Motion planning is a crucial and challenging step in autonomous driving navigation tasks.
Since traditional motion planning methods largely rely on complex hand-crafted designs …

Recent road trials have shown that guaranteeing the safety of driving decisions is essential
for the wider adoption of autonomous vehicle technology. One promising direction is to pose …