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This paper presents a simple path-planning method with low computational cost for autonomous vehicles driving on structured road networks. Characteristics of the road structure are exploited for efficient planning and evaluation. Instead of using a global state machine, necessary actions for maneuvers are generated online and are annotated into the trajectory itself. The method has been tested with our vehicle “MadeInGermany” over several thousand kilometers driving autonomously in urban city scenarios and highway tracks.
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Wang et al. (2011) studied this question.