# Path Planning for Autonomous Vehicle Based on a Two-Layered Planning Model in Complex Environment

> Research article (Journal of Advanced Transportation, 2020) · cited 26× · AI/ML

**Wikidata**: [openalex:W3110627065](https://www.wikidata.org/wiki/openalex:W3110627065)  
**Source**: https://4ort.xyz/entity/path-planning-for-autonomous-vehicle-based-on-a-two-layered-planning-model-in-complex-environment