This paper presents a decoupled trajectory planning framework based on the integration of
lattice searching and convex optimization for autonomous driving in structured …

The number of research papers on decision-making systems in automated driving has
increased significantly over the last few years. Decision-making for automated driving can …

Collision avoidance at unsignalized intersections is critical to autonomous vehicle
technology. Our work addresses the challenging problem of online speed planning along a …

In this paper, we present a novel convex optimization approach to address the minimum-
time speed planning problem over a fixed path with dynamic obstacle constraints and point …

This paper proposes a dynamic path planning method based on discrete optimization
applied to suburban highways or expressways. We optimize the generated candidate points …

Efficient speed planning is crucial for the safe and comfortable navigation of autonomous
vehicles in dynamic environments. This paper introduces a novel energy-efficient, jerk …

In this paper, a safety-guaranteed game-theoretical velocity planning framework in a
hierarchical manner is proposed to generate safe, ride comfort, and travel efficiency …

In this article, we discuss a sequential algorithm for the computation of a minimum-time
speed profile over a given path, under velocity, acceleration, and jerk constraints. Such a …

For a vehicle on an assigned path, we find the minimum-time speed law that satisfies
kinematic and dynamic constraints, related to maximum speed and maximum tangential and …

Speed planning in rugged terrain poses challenges due to various constraints, such as
traverse efficiency, dynamics, safety, and smoothness. This letter introduces a framework …