# Optimization-based trajectory planning for autonomous vehicles in scenarios with multiple reference lines

> Research article (Control Engineering Practice, 2025) · cited 13× · AI/ML

**Wikidata**: [openalex:W4410879659](https://www.wikidata.org/wiki/openalex:W4410879659)  
**Source**: https://4ort.xyz/entity/optimization-based-trajectory-planning-for-autonomous-vehicles-in-scenarios-with-multiple-reference-lines