Multi-vehicle Cooperative Decision-making and Trajectory Planning Based on Stackelberg Game Theory in Mixed Driving Environments
YAN Yong-jun, PENG Lin, WANG Jin-xiang, PI Da-wei, LIU Ya-hui, YIN Guo-dong
China Journal of Highway and Transport . 2024, (3): 117 -133 .  DOI: 10.19721/j.cnki.1001-7372.2024.03.004

Copyright © China Journal of Highway and Transport, All Rights Reserved.
Tel: 029-82334387　
E-mail：zgglxb@163.com
Powered by Beijing Magtech Co. Ltd,.