# Dynamic lane changing trajectory planning for CAV: A multi-agent model with path preplanning

> Research article (Transportmetrica B Transport Dynamics, 2021) · cited 29× · AI/ML

**Wikidata**: [openalex:W3214936300](https://www.wikidata.org/wiki/openalex:W3214936300)  
**Source**: https://4ort.xyz/entity/dynamic-lane-changing-trajectory-planning-for-cav-a-multi-agent-model-with-path-preplanning