… RISK To integrate the concept of a maximum acceptable risk criterion in AV trajectory
planning, we build up on a samplingbased approach to trajectory planning [40]. In general, the …

… trajectory planning of unmanned vehicles through partially unknown environments. The
basic planning … Agile vehicle dynamics are captured through a hybrid control architecture that …

… Besides using the concept of a maximum acceptable risk in our trajectory planning algorithm,
we particularly consider various ethical principles for risk distribution. The motion planning …

… the maximum acceptable risk idea here to set a risk threshold [25]. … path planning of AVs
according to the cost values calculated by a cost function based on the maximum acceptable risk…

… for path planning and expressing the set of the vehicle future … could be set to assess the risk
of collision based on the varied … lanes successively with an acceptable risk of collision. The …

… trajectory planning in the control layer. In some literature, motion planning includes trajectory
planning and path … In most AV studies, trajectory planning is based on the safety of vehicles, …

… trajectory planning at multiple levels. At the highest level and at higher frequency, the trajectory
is … constant, after T = 6s, front vehicle starts to have an impact on the risk evaluation of our …

… and benefits of our proposed risk measure. By incorporating … risk measure into a trajectory
planner, we enable AVs to plan minimal-risk trajectories and to quantify trade-offs between risk …

… a personalized level of acceptable risk. Deng et al. [7] extracted the maximum lateral acceleration
… Path planning for connected vehicles driving in dynamic environment may be difficult, …

… Our approach consists of designing a trajectory planning of two levels. At a high level, nine
maneuver … After T = 6 s, the front vehicle starts to have an impact on the risk evaluation of our …