The evolving autonomous driving technology has been attracting significant research efforts
in both academia and industry because of its promising potentials. Eliminating the human …

In this paper, a new approach for lane change and double-lane change planning and
following for autonomous driving is proposed. Herein, we introduce a novel technique …

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 …

This paper presents motion planning and control algo-rithm for urban automated driving
using highdefinition (HD) map. Many automakers have developed and commercialized …

Motion planners for autonomous driving improve traffic safety through collision-free motion
generation along the path. However, conventional motion planners render passengers …

This paper presents a hierarchical lane-changing trajectory planner based on the least
action principle for autonomous driving. Our approach aims to achieve reliable real-time …

Autonomous vehicles with mature technology can improve the safety and accessibility of
vehicle transportation and reshape their mobility based on improved operating efficiency …

Path planning and motion control are fundamental components to realize safe and reliable
autonomous driving. The discrimination of the role of these two components, however, is …

In this article, we propose an optimization-based integrated behavior planning and motion
control scheme, which is an interpretable and adaptable urban autonomous driving solution …

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 …