Li, Boyuan; Du, Haiping; Li, Weihua; Zhang, Bangji: 'Integrated trajectory planning and control for obstacle avoidance manoeuvre using non-linear vehicle MP algorithm', IET Intelligent Transport Systems, 2019, 13, (2), p. 385-397, DOI: 10.1049/iet-its.2018.5002
IET Digital Library, https://digital-library.theiet.org/;jsessionid=5gru81u3p9e4w.x-iet-live-01content/journals/10.1049/iet-its.2018.5002