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Autonomous Vehicles Lane-Changing Trajectory Planning Based on Hierarchical Decoupling

Xinyou Lin, Tianfeng Wang, Songrong Zeng, Zhiyong Chen, Liping Xie. Autonomous Vehicles Lane-Changing Trajectory Planning Based on Hierarchical Decoupling. IEEE Transactions on Intelligent Transportation Systems, 25(12):20741-20752, December 2024. [doi]

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