# A hierarchical planning and control framework for structured highway driving

> Research article (IFAC-PapersOnLine, 2017) · cited 15× · AI/ML

**Wikidata**: [openalex:W2767154872](https://www.wikidata.org/wiki/openalex:W2767154872)  
**Source**: https://4ort.xyz/entity/a-hierarchical-planning-and-control-framework-for-structured-highway-driving