# A state-constrained optimal control based trajectory planning strategy for cooperative freeway mainline facilitating and on-ramp merging maneuvers under congested traffic

> Research article (Transportation Research Part C Emerging Technologies, 2019) · cited 77× · AI/ML

**Wikidata**: [openalex:W2987945402](https://www.wikidata.org/wiki/openalex:W2987945402)  
**Source**: https://4ort.xyz/entity/a-state-constrained-optimal-control-based-trajectory-planning-strategy-for-cooperative-freeway-mainline-facilitating-and