Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jat/volume-2018/6060924/figures/6060924.fig.009a.svgz" name="6060924.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Trajectory generated with the approach</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jat/volume-2018/6060924/figures/6060924.fig.009b.svgz" name="6060924.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Comparison of the longitudinal acceleration</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/jat/volume-2018/6060924/figures/6060924.fig.009c.svgz" name="6060924.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Comparison of the path curvature and simulated vehicle one</td></tr></table>

<div>Simulated results based on real urban scenario.</div>

Journal of Advanced Transportation

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Figure 9

Figure 9: Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety 