Trajectory planning is one of the most important modules of the Autonomous Driving
Systems (ADSs), which aims to achieve a safe and comfortable interaction between the …

Efficient trajectory planning for urban intersections is currently one of the most challenging
tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants …

Trajectory planning in the intersection is a challenging problem due to the strong uncertain
intentions of surrounding agents. Conventional methods may fail in some corner cases …

Motion planning for autonomous vehicles remains a challenge in urban road environments
with occlusions. In this study, we present a motion planning framework that prioritizes safety …

This paper presents an optimization-based collision avoidance trajectory generation method
for autonomous driving in free-space environments, with enhanced robustness, driving …

Autonomous vehicles must be able to understand the surrounding traffic flows and predict
the future traffic conditions for planning a safe maneuver. During prediction, the action of …

Trajectory planning has generally been framed as finding the lowest cost one from a set of
trajectory candidates, where the cost function has been hand-crafted with carefully tuned …

This study presents a general optimal trajectory planning (GOTP) framework for autonomous
vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks …

Trajectory planning is essential for autonomous vehicles when operating in dynamic traffic
environments. A layered approach usually separates out into path planning and speed …

Autonomous vehicles face numerous challenges to ensure safe operation in unpredictable
and hazardous conditions. The autonomous driving environment is characterized by high …