Avoidance Planning for Intelligent Vehicles in Dilemma Based on Nominal Cost
ZHANG Rongshen, WANG Yutian, HU Rongquan, YANG Lingfang, HUANG Zhi
China Mechanical Engineering . 2022, (15): 1849 -1856 .  DOI: 10.3969/j.issn.1004-132X.2022.15.011