由该算法生成的换道轨迹符合四段式车道变换模型，并适用于复杂道路环境。
The lane changing trajectory generates by this algorithm meet the requirements of four-phase lane changing model and can applies to complex road environment.
由该算法生成的换道轨迹符合四段式车道变换模型，并适用于复杂道路环境。
The lane changing trajectory generates by this algorithm meet the requirements of four-phase lane changing model and can applies to complex road environment.
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