Journal of Advanced Transportation / 2017 / Article / Fig 10

Research Article

Accelerated Lane-Changing Trajectory Planning of Automated Vehicles with Vehicle-to-Vehicle Collaboration

Figure 10

Optimal trajectory simulation of the deceleration coordination of .
(a) Initial conditions of the lane-changing process
(b) Position relationship between and
(c) Position relationship between and
(d) Completion of the lane-changing process

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