Maneuver decision-making and trajectory planning play important roles in autonomous
driving since a safe and flexible decision module is indispensable for navigation. Typical …

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 …

This paper presents an efficient hierarchical motion planning framework with a long
planning horizon for autonomous driving in structured environments. A 3D motion planning …

This paper presents a hierarchical motion planning approach based on discrete optimization
method. Well-coupled longitudinal and lateral planning strategies with adaptability features …

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 …

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 …

Efficient trajectory planning for intelligent vehicles in dynamic environments is a non-trivial
task due to the diversity and complexity of driving scenarios. It requires the planner to be …

Trajectory planning is of vital importance to decision-making for autonomous vehicles.
Currently, there are three popular classes of cost-based trajectory planning methods …

Sampling-based motion planning methods are widely adopted in autonomous driving.
Typically, sampling can be decoupled into two layers: a path sampling layer and a speed …

Traditional decoupling trajectory planning strategy deals with complex urban road scenes
with many shortcomings, such as stereotyped behavior and poor trajectory quality. Aiming at …