… in a wide range of driving scenarios. This paper presents a motion planning framework that
… [13], [14] conduct uniformly-spaced velocity sampling up to the speed limit as demonstrated …

… use of the algorithm in two scenarios: one inspired by racing … to plan a path for the entire
track. The other component of the trajectory is the speed profile expressed as the desired speed …

… merging scenarios, no suitable solution might be found. In this work, we present a planning
… of the vehicle directly ahead or to the free driving target speed, respectively. Thus, reactive …

… motion planning in dense traffic scenarios. We explore the connection between human
driving behavior … This evaluation scenario helps in assessing the merging speed of the policy. …

… The benefit of the combination of both solution schemes is shown exemplary in the scenario
presented in Fig. 6. Initially, the autonomous vehicle is driving at a speed of 5m/s on the …

… triggering the required changes in paths and speed profiles during the scenario (Table I). …
Finally, we plan to exploit the model in generating new scenarios by injecting road-user …

… t) ≤ 0, such as speed limits or other … scenario in which the motion planner has to find a safe
solution when the other trajectory is known, which is typically the case in collaborative driving …

… requirement for self-driving systems, particularly in high-speed scenarios, where a multi-state …
a high-speed scenario is of great significance in the local trajectory planning of self-driving …

… sample critical scenarios representative of real-world driving … To speed up the processing
in the next steps, we can also … We define the motion planning problem for the ego vehicle as a …

… For the pedestrian, we choose vmax = 1.25 m/s to represent a normal walking speed. Once
the phantom object is outside of the occluded area, it will only move forward along the path …