# Centralized vehicle trajectory planning on general platoon sorting problem with multi-vehicle lane changing

> Research article (Transportation Research Part C Emerging Technologies, 2023) · cited 25× · AI/ML

**Wikidata**: [openalex:W4385443214](https://www.wikidata.org/wiki/openalex:W4385443214)  
**Source**: https://4ort.xyz/entity/centralized-vehicle-trajectory-planning-on-general-platoon-sorting-problem-with-multi-vehicle-lane-changing