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IEEE/ICACT20220144 Slide.13        [Big Slide]	Oral Presentation
	Our goal is to determine the next point, which is the Pn_head in this figure. The midpoint of lines connecting two intersection points left and right is center. The intersection point ( Pn_head ) of line segments ( Pc_rear and Pc_min_lane) and driving radius is selected as the next position as shown in Figure 4.

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