Firstly, according to the vehicle dynamics and the safety restriction, the paper deduced the safety operation speed under the state of car-following and lane-changing.
首先根据车辆动力学原理和安全约束条件，推导了跟车安全速度模型、换车道安全速度模型。
2
My own feeling is that it has more to do with lane changes, particularly at junctions when there are large Numbers of vehicles changing lanes.
我自己的感觉是这跟频繁的变道很有关系，特别是在车辆交汇路口，大量的车辆都在那儿换道。
3
Automatic steering control is a complex nonlinear system, which includes lane keeping and lanechanging.