… a backup trajectory planner for … trajectory planning scheme for dynamic scenarios by merging
the strengths of the sampling and numerical optimization methods. The trajectory planning …

… CONCLUSIONS This paper presents a novel dynamic trajectory planning approach for
vehicle autonomous driving, which is designed to accommodate complicated traffic scenarios …

… dynamic scenarios. To realize safe driving in real traffic, maneuver decision-making and
trajectory planning … handle various driving situations caused by dynamic obstacles in real time. …

… the state lattice principle to space time planning. Section IV complements this idea … planning
in on-road scenarios. We demonstrate motion planning results for two challenging scenarios …

… , future races are planned to include several participants … trajectory planner, which will be
tackled in this paper. The proposed approach is designed to plan trajectories in a race scenario …

… for trajectory planning in overtaking scenarios. We will show how to ensure the existence of
valid trajectories in terms of collision-freeness and kinematic feasibility in each planning step …

… in driving scenarios in realtime. This paper proposes a hybrid trajectory planning framework …
based approaches to cope with the complex driving scenarios. First, a risk field model is …

… several typical lane-changing scenarios constructed based on real… of the trajectories planned
by the proposed model. … the proposed dynamic lane-changing trajectory planning model in …

… the emergency trajectory planning algorithm and its implementation. Section 4 shows the
simulation results of our two trajectory planning algorithms in different near-accident scenarios, …

… constitute the dynamic elements of the scenario, and they consist of pop-ups with a
known future probability of appearance. For each pop-up the system generates at planning-time …