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6 评价指标与换道纵向距离 X f
Fig.6 Index and longitudinal lane change distance X f