@inproceedings{autonomousdrivingoncurvyroadswithout,
  title = {Autonomous Driving on Curvy Roads Without Reliance on Frenet Frame: A Cartesian-Based Trajectory Planning Method},
  author = {Bai Li and Yakun Ouyang and Li Li and Youmin Zhang},
  year = {2022},
  booktitle = {IEEE Transactions on Intelligent Transportation Systems 2022 2},
  url = {https://ieeexplore.ieee.org/document/9703250},
}