Comparative Analysis of Hierarchical and Integrated Trajectory Planning Architectures for Autonomous Vehicles in Multi-Scenario Environments. Frontiers in Computational Spatial Intelligence, [S. l.], v. 3, n. 1, p. 44–54, 2025. Disponível em: https://journal.xdgen.com/index.php/FCSI/article/view/333. Acesso em: 4 sep. 2025.