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 13 车道数不同情况下最终分转向串联排列
Fig.13 Final tandem arrangement with different numbers of lanes