# Autonomous Vehicles Lane-Changing Trajectory Planning Based on Hierarchical Decoupling

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2024) · cited 14× · AI/ML

**Wikidata**: [openalex:W4402300002](https://www.wikidata.org/wiki/openalex:W4402300002)  
**Source**: https://4ort.xyz/entity/autonomous-vehicles-lane-changing-trajectory-planning-based-on-hierarchical-decoupling