# Velocity Trajectory Planning of the Autonomous-Rail Rapid Tram Considering Terrain and Traffic lights

> Research article (2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), 2020) · cited 10× · AI/ML

**Wikidata**: [openalex:W3117766582](https://www.wikidata.org/wiki/openalex:W3117766582)  
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