# Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

> Research article (Journal of Advanced Transportation, 2018) · cited 46× · AI/ML

**Wikidata**: [openalex:W2883700531](https://www.wikidata.org/wiki/openalex:W2883700531)  
**Source**: https://4ort.xyz/entity/urban-motion-planning-framework-based-on-n-bezier-curves-considering-comfort-and-safety