# A practical trajectory planning framework for autonomous ground vehicles driving in urban environments

> Research article (2015 IEEE Intelligent Vehicles Symposium (IV), 2015) · cited 39× · AI/ML

**Wikidata**: [openalex:W1542635676](https://www.wikidata.org/wiki/openalex:W1542635676)  
**Source**: https://4ort.xyz/entity/a-practical-trajectory-planning-framework-for-autonomous-ground-vehicles-driving-in-urban-environments