Christian Rathgeber and  Franz Winkler and  Xiaoyu Kang and  Steffen Müller,  Optimal Trajectories for Highly Automated Driving.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    June 2015, vol. 102(6). 969 - 975
    [viewed 09 May 2024]. Available from: https://publications.waset.org/pdf/10001526.