# Safety-Critical and Flexible Cooperative On-Ramp Merging Control of Connected and Automated Vehicles in Mixed Traffic

> Research article (IEEE Transactions on Intelligent Transportation Systems, 2023) · cited 80× · AI/ML

**Wikidata**: [openalex:W4321770556](https://www.wikidata.org/wiki/openalex:W4321770556)  
**Source**: https://4ort.xyz/entity/safety-critical-and-flexible-cooperative-on-ramp-merging-control-of-connected-and-automated-vehicles-in-mixed-traffic