Huang, H. (author), Liu, Yicong (author), Liu, Jinxin (author), Yang, Q. (author), Wang, Jianqiang (author), Abbink, D.A. (author), Zgonnikov, A. (author) This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently. Firstly, we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline. Cartesian coordinates...
journal article 2024