# An optimal hierarchical framework of the trajectory following by convex optimisation for highly automated driving vehicles

> Research article (Vehicle System Dynamics, 2018) · cited 52× · AI/ML

**Wikidata**: [openalex:W2883970576](https://www.wikidata.org/wiki/openalex:W2883970576)  
**Source**: https://4ort.xyz/entity/an-optimal-hierarchical-framework-of-the-trajectory-following-by-convex-optimisation-for-highly-automated-driving-vehicl