… joint optimization-based trajectory planning (SJOTP) method for autonomous vehicles for …
The framework consists of three layers: the behavior planning layer, the collision handling …

… nonconvex optimization problem in the autonomous driving … be solved by using effective
optimization methods in a parallel … , “Local path planning for off-road autonomous driving with …

… proposes an optimal trajectory optimization strategy for Connected and Automated Vehicles
(… stable platoons, an optimal controller that considers lane-changing motivation of merging …

… , we will also refer to trajectory planning as trajectory optimization, path planning, or motion
… Then, if bioe(k) = 1 for a particular e, the corresponding inequality is relaxed and always …

… optimization-based trajectory planning for its theoretical guarantees and ability to accurately
converge to local optimal solutions in continuous space… a first-order relaxation function L1(·) …

… obstacle avoidance, simultaneous optimization of speed and … a nonlinear model predictive
control-based trajectory planning … to relax the assumption that the goal is within the vehicle’s …

… : • a convenient search space definition, … planning results from a relaxed problem for shorter
planning times, • integrated reference lane decision making and velocity trajectory planning (…

… an optimization-based method to calculate such trajectories for autonomous vehicles … 1),
since the relaxation comes down to replacing constraints on the spline by constraints on …

… relies on the relaxation of mixedinteger constraints [30], [31], but these relaxation strategies
may … In parking cases, we expect the autonomous vehicle to complete the parking maneuvers …

… planning approach, Local Spline Relaxation with Local Hyperplanes (LSR-LH), for
autonomous vehicles to search for time-optimal … optimal trajectories for autonomous vehicles in …