Liu, Shaojie, Wei Fan, Shuaiyang Jiao, and Aizeng Li. “The Performance of Connected and Autonomous Vehicles With Trajectory Planning in a Fixed Signal Controlled Intersection”. Promet - Traffic&Transportation 36, no. 1 (March 1, 2024): 164–176. Accessed July 21, 2024. https://traffic2.fpz.hr/index.php/PROMTT/article/view/288.