# A Hierarchical Motion Planning Framework for Autonomous Driving in Structured Highway Environments

> Research article (IEEE Access, 2022) · cited 25× · AI/ML

**Wikidata**: [openalex:W4213114053](https://www.wikidata.org/wiki/openalex:W4213114053)  
**Source**: https://4ort.xyz/entity/a-hierarchical-motion-planning-framework-for-autonomous-driving-in-structured-highway-environments