# Safe and Efficient Trajectory Optimization for Autonomous Vehicles Using B-Spline With Incremental Path Flattening

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

**Wikidata**: [openalex:W4405022311](https://www.wikidata.org/wiki/openalex:W4405022311)  
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