@article{ariskawarespatialtemporaltrajectoryplann,
  title = {A Risk-aware Spatial-temporal Trajectory Planning Framework for Autonomous Vehicles Using QP-MPC and Dynamic Hazard Fields},
  author = {Zhen Tian and Zhihao Lin and Dezong Zhao and Christos Anagnostopoulos and Qiyuan Wang and Wenjing Zhao and Xiaodan Wang and Chongfeng Wei},
  year = {2025},
  eprint = {2509.00643},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.00643},
}