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

Table 2

Bézier control points for lateral and longitudinal approach for intersections “Int”, roundabout entrance “RE”, roundabout exit “Rex”, lane change maneuver “LC”, and speed planning.

Planning		Control points n-order Bézier
		Lateral	Int
RE							-
REx							-
LC
Longitudinal	Speed