... control Trajectory planning Optimization In multi-lane scenarios, lane-changing (LC) is inevitable and thus has drawn increasing attention, as LC is a major source of traffic flow disturbance (Ali et al., 2021). With CAVs, smooth and safe LC trajectories can be designed and precisely...

... with dynamic obstacles for autonomous vehicles during parking, a long- and short-term mixed trajectory planning algorithm is proposed in this paper. In long term, considering obstacle behavior, A-star algorithm was improved by RS curve and potential function via spatio-temporal map to obtain a safe...