@article{, author = {Kessler, Tobias and Esterle, Klemens and Knoll, Alois}, title = {Mixed-Integer Motion Planning on German Roads within the Apollo Driving Stack}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, journal = {IEEE Transactions on Intelligent Vehicles}, year = {2022}, month = mar, doi = {doi:10.1109/tiv.2022.3162671}, }