# Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment

> Research article (Sensors, 2020) · cited 18× · AI/ML

**Wikidata**: [openalex:W3083143316](https://www.wikidata.org/wiki/openalex:W3083143316)  
**Source**: https://4ort.xyz/entity/clothoid-an-integrated-hierarchical-framework-for-autonomous-driving-in-a-dynamic-urban-environment