# Balancing Computation Speed and Quality: A Decentralized Motion Planning Method for Cooperative Lane Changes of Connected and Automated Vehicles

> Research article (IEEE Transactions on Intelligent Vehicles, 2018) · cited 88× · AI/ML

**Wikidata**: [openalex:W2807126442](https://www.wikidata.org/wiki/openalex:W2807126442)  
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