Jona Ruof Max Bastian Mertens Michael Buchholz Klaus Dietmayer Real-Time Spatial Trajectory Planning for Urban Environments Using Dynamic Optimization. 1-7 2023 IV https://doi.org/10.1109/IV55152.2023.10186535 conf/ivs/2023 db/conf/ivs/ivs2023.html#RuofMBD23