Research Article
Spatially Formulated Connected Automated Vehicle Trajectory Optimization with Infrastructure Assistance
| Scenarios | Speed limit change | Driving behavior change | Obstacle | System disturbances |
| 1 | No | No | No | No | 2 | Yes | No | No | No | 3 | No | Yes | No | No | 4 | No | Yes | Yes | No | 5 | No | Yes | Yes | Yes |
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