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-preview.hindawi.com/articles/jat/volume-2018/6060924/figures/6060924.fig.006a.svgz" name="6060924.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Speed planning with overlapped intersections</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/jat/volume-2018/6060924/figures/6060924.fig.006b.svgz" name="6060924.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Speed planning without overlapped parts</td></tr></table>

<div>Stages for speed planning approach.</div>

Journal of Advanced Transportation

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Figure 6

Figure 6: Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety 