Automated vehicles with parallel autonomy show advantages over fully automated vehicles
and manual driving. This paper proposes a hierarchical motion planning method that mixes …

This paper combines A* algorithm and quintic polynomial to propose a novel hybrid
trajectory planning method that can be used on both structured and unstructured roads for …

Autonomous vehicles (AVs) must share the driving space with other drivers and often
employ conservative motion planning strategies to ensure safety. These conservative …

The Frenét frame is commonly used in motion planning for its superiority of reshaping
nonconvex curving boundaries and decoupling lateral and longitudinal behaviors …

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

This article describes the development and implementation of virtual target-based
longitudinal motion planning of autonomous vehicles at urban intersections ensuring safety …

For automated driving vehicles, trajectory planning is responsible for obtaining feasible
trajectories with velocity profiles according to driving environments. From the perspective of …

This paper proposes a real-time local motion planning algorithm for autonomous vehicles,
which is based on model predictive control (MPC) subject to static and dynamic obstacles. In …

Motion planning for autonomous vehicles becomes more challenging when both driver
comfort and collision risk are considered. To overcome this challenge, a human-like motion …

This paper introduces the development of an autonomous driving system in autonomous
electric vehicles, which consists of a simplified motion-planning program and a Model …