# Predictive Trajectory Planning for On-Road Autonomous Vehicles Based on a Spatiotemporal Risk Field

> Research article (IEEE Intelligent Transportation Systems Magazine, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4286373625](https://www.wikidata.org/wiki/openalex:W4286373625)  
**Source**: https://4ort.xyz/entity/predictive-trajectory-planning-for-on-road-autonomous-vehicles-based-on-a-spatiotemporal-risk-field