# An enhanced motion planning approach by integrating driving heterogeneity and long-term trajectory prediction for automated driving systems: A highway merging case study

> Research article (Transportation Research Part C Emerging Technologies, 2024) · cited 20× · AI/ML

**Wikidata**: [openalex:W4392672602](https://www.wikidata.org/wiki/openalex:W4392672602)  
**Source**: https://4ort.xyz/entity/an-enhanced-motion-planning-approach-by-integrating-driving-heterogeneity-and-long-term-trajectory-prediction-for-automa