Speed Planning Algorithm Based on Improved S-Type Acceleration and Deceleration Model
LUO Huimiao (罗晖淼), ZHAO Dongbiao∗ (赵东标), FU Wenqiang (付文强)
J Shanghai Jiaotong Univ Sci . 2021, (6): 786 -793 .  DOI: 10.1007/s12204-021-2322-4