考虑全局最优性的汽车微观动态轨迹规划
孙浩, 邓伟文, 张素民, 吴梦勋

Micro vehicle dynamic trajectory plan with global optimality
SUN Hao, DENG Wei-wen, ZHANG Su-min, WU Meng-xun
图1 车辆分层决策架构
Fig.1 Architecture of hierarchical decision-making framework