{"id":"https://openalex.org/W4400646017","doi":"https://doi.org/10.1109/iv55156.2024.10588803","title":"MIMP: Modular and Interpretable Motion Planning Framework for Safe Autonomous Driving in Complex Real-world Scenarios","display_name":"MIMP: Modular and Interpretable Motion Planning Framework for Safe Autonomous Driving in Complex Real-world Scenarios","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400646017","doi":"https://doi.org/10.1109/iv55156.2024.10588803"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588803","doi":"https://doi.org/10.1109/iv55156.2024.10588803","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588803","pdf_url":null,"source":{"id":"https://openalex.org/S4210198592","display_name":"IEEE Intelligent Vehicles Symposium","issn_l":"1931-0587","issn":["1931-0587","2642-7214"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108955319","display_name":"Carlos Fernando Coelho Valadares","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Carlos Fernando Coelho Valadares","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031855058","display_name":"Piero Macaluso","orcid":"https://orcid.org/0000-0001-8753-6876","observed_orcids":["https://orcid.org/0000-0001-8753-6876"]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Piero Macaluso","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024409743","display_name":"Grzegorz Bartyzel","orcid":"https://orcid.org/0000-0002-7921-8867","observed_orcids":["https://orcid.org/0000-0002-7921-8867"]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Grzegorz Bartyzel","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063995811","display_name":"Maciej Dziubi\u0144ski","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Maciej Dziubinski","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104557573","display_name":"Christopher Koeppen","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Christopher Koeppen","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071637033","display_name":"Gabriel Anuncia\u00e7\u00e3o Kopte","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Gabriel Anuncia\u00e7\u00e3o Kopte","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104577209","display_name":"Janusz Twardak","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Janusz Twardak","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Francesco Vincelli","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Francesco Vincelli","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083758848","display_name":"Nicola Poerio","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405253751","display_name":"Stellantis (Netherlands)","ror":"https://ror.org/011wcsv83","country_code":"NL","type":"company","lineage":["https://openalex.org/I4405253751"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Nicola Poerio","raw_affiliation_strings":["Stellantis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stellantis","institution_ids":["https://openalex.org/I4405253751"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4405253751"],"apc_list":null,"apc_paid":null,"fwci":1.5552,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85124463,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1492","last_page":"1498"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.8554999828338623,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.8554999828338623,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.12790000438690186,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.003000000026077032,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.8730000257492065},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.9660000205039978},{"id":"https://openalex.org/keywords/trajectory-generation","display_name":"trajectory generation","score":0.9399999976158142},{"id":"https://openalex.org/keywords/cost-volume","display_name":"cost volume","score":0.9440000057220459},{"id":"https://openalex.org/keywords/safety-filters","display_name":"safety filters","score":0.6930000185966492},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.8479999899864197},{"id":"https://openalex.org/keywords/urban-driving-conditions","display_name":"urban driving conditions","score":0.7390000224113464}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8228917121887207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6564633846282959},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5997154712677002},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5466859340667725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4472379684448242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33283668756484985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25988417863845825},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.05954641103744507}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588803","doi":"https://doi.org/10.1109/iv55156.2024.10588803","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588803","pdf_url":null,"source":{"id":"https://openalex.org/S4210198592","display_name":"IEEE Intelligent Vehicles Symposium","issn_l":"1931-0587","issn":["1931-0587","2642-7214"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.761900007724762,"display_name":"Sustainable cities and communities"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1939739483","https://openalex.org/W1965455100","https://openalex.org/W1983948265","https://openalex.org/W2169498096","https://openalex.org/W2434014514","https://openalex.org/W2560674852","https://openalex.org/W2968008415","https://openalex.org/W3048966129","https://openalex.org/W3097323743","https://openalex.org/W3110109289","https://openalex.org/W3125926538","https://openalex.org/W3165444337","https://openalex.org/W3176012696","https://openalex.org/W3200386541","https://openalex.org/W3203018838","https://openalex.org/W3207958628","https://openalex.org/W4293363567","https://openalex.org/W4312270460","https://openalex.org/W4380715592","https://openalex.org/W4382603059","https://openalex.org/W4383108532","https://openalex.org/W4390871698","https://openalex.org/W4391768851","https://openalex.org/W4400646150","https://openalex.org/W4401416666","https://openalex.org/W6793164127","https://openalex.org/W6802920152","https://openalex.org/W6854286043"],"related_works":["https://openalex.org/W4293772383","https://openalex.org/W4417300532","https://openalex.org/W7164398037","https://openalex.org/W4400646150","https://openalex.org/W3142014825","https://openalex.org/W2168720173","https://openalex.org/W4301272227","https://openalex.org/W2407385705","https://openalex.org/W2968008415","https://openalex.org/W7125976298"],"abstract_inverted_index":{"Motion":[0,27],"planning":[1],"for":[2,31,79,120,204],"autonomous":[3,15],"vehicles":[4],"in":[5,14,33,103,112,134,165,182],"complex,":[6],"real-world":[7],"urban":[8],"scenarios":[9],"is":[10,68,155],"a":[11,23,49,54,62,72,89,95,106,113,140],"fundamental":[12],"challenge":[13],"driving.":[16],"To":[17,83],"this":[18],"end,":[19],"we":[20,87],"present":[21],"MIMP,":[22],"Modular":[24],"and":[25,53,115,126,179,201],"Interpretable":[26],"Planning":[28],"framework":[29],"tailored":[30],"operation":[32],"such":[34],"complex":[35],"scenarios.":[36,185],"Our":[37,163],"approach":[38,203],"consists":[39],"of":[40,65,75,129,171,190,198],"three":[41,192],"key":[42],"modules:":[43],"trajectory":[44,46,59,145],"generation,":[45],"scoring":[47],"with":[48,122,131,139,146],"trainable":[50],"cost":[51,97,149],"volume,":[52],"safety":[55,107,111,153],"filter.":[56],"In":[57],"the":[58,80,123,127,147,152,156,176,188,196],"generation":[60],"module,":[61],"wide":[63],"range":[64],"driving":[66],"behaviors":[67],"covered":[69],"by":[70,118],"generating":[71],"large":[73],"set":[74],"potentially":[76],"viable":[77],"trajectories":[78,102],"ego":[81],"vehicle.":[82],"score":[84],"these":[85],"trajectories,":[86],"use":[88],"deep":[90],"learning":[91],"model,":[92],"which":[93],"learns":[94],"spatio-temporal":[96],"volume":[98],"to":[99],"assess":[100],"all":[101],"real-time.":[104],"Finally,":[105],"filter":[108,154],"module":[109],"ensures":[110],"deterministic":[114],"verifiable":[116],"manner":[117],"checking":[119],"compliance":[121],"drivable":[124],"area":[125],"absence":[128],"collisions":[130],"other":[132,172],"agents":[133],"their":[135],"future":[136],"positions,":[137],"obtained":[138],"simple":[141],"projection":[142],"module.":[143],"The":[144],"lowest":[148],"that":[150],"passes":[151],"final":[157],"plan,":[158],"without":[159],"any":[160],"additional":[161],"adjustments.":[162],"results":[164],"closed-loop":[166],"testing":[167],"closely":[168],"match":[169],"those":[170],"top-performing":[173],"methods":[174],"on":[175],"nuPlan":[177],"benchmark":[178],"outperform":[180],"them":[181],"most":[183],"challenging":[184],"We":[186],"emphasize":[187],"simplicity":[189],"our":[191],"building":[193],"blocks,":[194],"demonstrating":[195],"potential":[197],"an":[199],"elegant":[200],"straightforward":[202],"motion":[205],"planning.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2024-07-16T00:00:00"}