Solving trajectories of multi-phase dynamic advanced vehicles is difficult due to the coexistence of discontinuous aerodynamics. long-range and multi-peak features. Despite traditional phase-by-phase solving method for trajectory is expressive and easy to optimize. it loses global optimality to some extent and the state estimation between phases is cumbersome. https://www.nacrack.com/hot-savings-HiBoost-Home-15K-Smart-Link-F20G-5S-IoT-limited-super/