# Autonomous Driving on Curvy Roads Without Reliance on Frenet Frame: A Cartesian-Based Trajectory Planning Method

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2022) · cited 161× · AI/ML

**Wikidata**: [openalex:W4210607981](https://www.wikidata.org/wiki/openalex:W4210607981)  
**Source**: https://4ort.xyz/entity/autonomous-driving-on-curvy-roads-without-reliance-on-frenet-frame-a-cartesian-based-trajectory-planning-method