自动车轨迹优化以实现分转向车流串联交叉口控制
郭满,梅振宇,章立辉

Trajectory optimization of connected and autonomous vehicles to achieve tandem intersection control
Man GUO,Zhen-yu MEI,Li-hui ZHANG
图 5 阻碍车辆所在行无换道空间的示例
Fig.5 Example of no lane changing vacancy in row with obstruction vehicle