QIAN, Yubin; DENG, Chengzhi; XU, Jiejie; QU, Xianguo; SONG, Zhenyu. Occlusion-aware collision avoidance trajectory planning with potential collision risk assessment for autonomous vehicle. Bulletin of the Polish Academy of Sciences Technical Sciences, [S. l.], v. 72, n. 4, p. e149819, 2024. DOI: 10.24425/bpasts.2024.149819. Disponível em: https://wydawnictwo.pan.pl/index.php/bpasts/article/view/2921. Acesso em: 20 aug. 2026.