1. Li LI, Feiyue WANG (2018) A century review of ground traffic control and prospects for the next 50 years. Acta Auto Sinica 44(4):577–583
2. Sun H, Deng WW, Zhang SM et al. (2014) Trajectory planning for vehicle autonomous driving with uncertainties. Proceedings of 2014 International Conference on Informative and Cybernetics for Computational Social Systems (ICCSS), pp 34–38. Qingdao: IEEE
3. Rastelli JP, Lattarulo R, Nashashibi F. 2014 Dynamic trajectory generation using continuous-curvature algorithms for door to door assistance vehicles. Proceedings of IEEE Intelligent Vehicles Symposium. Dearborn, MI, USA: IEEE: 510–515
4. Cong YF, Sawodny O, Chen H, et al. Motion planning for an autonomous vehicle driving on motorways by using flatness proper-ties. 2010 IEEE International Conference on Control Applications. Yokohama: IEEE: 908–913
5. Lingli Y, Ziwei L, Kaijun Z (2016) Non-time trajectory tracking method for robot based on Bezier curve. J Sci Instr 37(7):1564–1572