Umar Zakir Abdul Hamid, M. Ariff, H. Zamzuri, Y. Saito, M. Zakaria, M. Rahman, P. Raksincharoensak
Piecewise Trajectory Replanner for Highway Collision Avoidance Systems with Safe-Distance Based Threat Assessment Strategy and Nonlinear Model Predictive Control
Journal of Intelligent & Robotic Systems, 2018, Vol. 90, No. 3, pp. 363-385.
https://doi.org/10.1007/s10846-017-0665-8