Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free
trajectories. A layered motion planning approach with decoupled path and speed planning …

To efficiently generate safe trajectories for an autonomous vehicle in dynamic environments,
a layered motion planning method with decoupled path and speed planning is widely used …

This paper focuses on the real-time trajectory planning problem for autonomous vehicles
driving in realistic urban environments. To solve the complex navigation problem, we adopt …

Curvy roads are a particular type of urban road scenario, wherein the curvature of the road
centerline changes drastically. This paper is focused on the trajectory planning task for …

A safe trajectory planning for on-road autonomous driving is a challenging problem owing to
the variety and complexity of driving environments. The problem should involve the …

Motion planning algorithms, an essential part of the autonomous driving system, have been
extensively studied. However, in large-scale complex scenarios, how to develop an optimal …

To generate safe and real-time trajectories for an autonomous vehicle in dynamic
environments, path and speed decoupled planning methods are often considered. This …

This study proposes an effective trajectory planning algorithm based on the quartic Bézier
curve and dangerous potential field for automatic vehicles. To generate collision‐free …

This letter presents a hierarchical motion planner for generating smooth and feasible
trajectories for autonomous vehicles in unstructured environments with static and moving …

Optimization-based methods are commonly applied in autonomous driving trajectory
planners, which transform the continuous-time trajectory planning problem into a finite …