Hierarchical Trajectory Planning of an Autonomous Car Based on the Integration of a Sampling and an Optimization Method

Won-Taek Lim, Seongjin Lee, Myoungho Sunwoo, Kichun Jo. Hierarchical Trajectory Planning of an Autonomous Car Based on the Integration of a Sampling and an Optimization Method. IEEE Transactions on Intelligent Transportation Systems, 19(2):613-626, 2018. [doi]

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