# Piecewise Trajectory Replanner for Highway Collision Avoidance Systems with Safe-Distance Based Threat Assessment Strategy and Nonlinear Model Predictive Control

> Research article (Journal of Intelligent & Robotic Systems, 2017) · cited 31× · AI/ML

**Wikidata**: [openalex:W2760854471](https://www.wikidata.org/wiki/openalex:W2760854471)  
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