Hierarchical Trajectory Planning via Risk Perception and Spatial- temporal Graph Networks in Dense Interaction Scenarios
CHEN Bo-wen, GUO Feng-xiang, ZHANG Jing, LI Chun-yu, CHEN Bin, ZHONG Hua-xu, DENG Chuan-fu, CHEN Zheng
China Journal of Highway and Transport . 2026, (7): 361 -376 .  DOI: 10.19721/j.cnki.1001-7372.2026.07.027

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