# A nonlinear programing model for collision-free lane-change trajectory planning based on vehicle-to-vehicle communication

> Research article (Journal of Transportation Safety & Security, 2019) · cited 16× · AI/ML

**Wikidata**: [openalex:W2995851492](https://www.wikidata.org/wiki/openalex:W2995851492)  
**Source**: https://4ort.xyz/entity/a-nonlinear-programing-model-for-collision-free-lane-change-trajectory-planning-based-on-vehicle-to-vehicle-communicatio