Multi-vehicle coordinated motion planning has always been challenged to safely and
efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial …

Motion planning and control of connected and autonomous vehicles (CAVs) for improving
traffic efficiency and safety in intersections still meets many challenges due to its dynamic …

Guiding multiple vehicles to leave the conflict zone under consideration of interaction is the
core of multi-vehicle coordinated planning. The solution efficiency can be improved by …

This paper focuses on the multi-vehicle motion planning (MVMP) problem for cooperative
lane changes of connected and automated vehicles (CAVs). The predominant decentralized …

This article proposes a novel cooperative motion planning and decision-making approach
for connected and automated vehicles (CAVs) at unsignalized intersections, where a …

Since vehicles from multiple roads frequently merge at intersections, it formulates a typical
traffic bottleneck of modern transportation systems. Proper vehicle coordination and motion …

This work deals with the Multi-Vehicle Trajectory Planning (MVTP) problem in unstructured
conflict areas. Compared with MVTP on structured roads, the more complex intersection and …

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 …

In this paper, a hierarchical motion planning framework is proposed to solve complex
navigation problem in realistic dynamic traffic environments. Firstly, according to the …

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