# A Hierarchical Control System for Autonomous Driving towards Urban Challenges

> Research article (Applied Sciences, 2020) · cited 49× · AI/ML

**Wikidata**: [openalex:W3026996653](https://www.wikidata.org/wiki/openalex:W3026996653)  
**Source**: https://4ort.xyz/entity/a-hierarchical-control-system-for-autonomous-driving-towards-urban-challenges