4.4 Article

Hierarchical hybrid trajectory planning for autonomous vehicle considering multiple road types

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Summary: Trajectory planning is crucial for decision-making in autonomous vehicles. This paper proposes a hybrid planning framework that integrates the strengths of graph-search and optimization methods to achieve faster and smoother spatio-temporal trajectory planning. Results show feasible trajectories in constrained dynamic environments and significantly improved planning efficiency compared to other state-of-the-art methods.

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