Xun Shen, Xingguo Zhang, Tinghui Ouyang, Yuanchao Li, Pongsathorn Raksincharoensak
Cooperative comfortable-driving at signalized intersections for connected and automated vehicles
IEEE Robotics and Automation Letters, 2020, vol. 5, no. 4, pp. 6247-6254.
https://doi.org/10.1109/LRA.2020.3014010