{"id":"https://openalex.org/W4386012090","doi":"https://doi.org/10.1002/aisy.202300269","title":"Safe and Human\u2010Like Trajectory Planning of Self\u2010Driving Cars: A Constraint Imitative Method","display_name":"Safe and Human\u2010Like Trajectory Planning of Self\u2010Driving Cars: A Constraint Imitative Method","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4386012090","doi":"https://doi.org/10.1002/aisy.202300269"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202300269","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300269","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300269","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300269","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032092431","display_name":"Mingyang Cui","orcid":"https://orcid.org/0000-0003-1884-0641"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Cui","raw_affiliation_strings":["School of Vehicle and Mobility Tsinghua University  Beijing 100084 China","School of Vehicle and Mobility, Tsinghua University, Beijing, 100084 China"],"raw_orcid":"https://orcid.org/0000-0003-1884-0641","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility Tsinghua University  Beijing 100084 China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, 100084 China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101760892","display_name":"Yingbai Hu","orcid":"https://orcid.org/0000-0003-2452-3570"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yingbai Hu","raw_affiliation_strings":["Department of Informatics Technical University of Munich  85748 Munich Germany","Department of Informatics, Technical University of Munich, 85748 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics Technical University of Munich  85748 Munich Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, 85748 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011184498","display_name":"Shaobing Xu","orcid":"https://orcid.org/0000-0002-4127-2411"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaobing Xu","raw_affiliation_strings":["School of Vehicle and Mobility Tsinghua University  Beijing 100084 China","School of Vehicle and Mobility, Tsinghua University, Beijing, 100084 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility Tsinghua University  Beijing 100084 China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, 100084 China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100436368","display_name":"Jianqiang Wang","orcid":"https://orcid.org/0000-0003-4363-6108"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianqiang Wang","raw_affiliation_strings":["School of Vehicle and Mobility Tsinghua University  Beijing 100084 China","School of Vehicle and Mobility, Tsinghua University, Beijing, 100084 China"],"raw_orcid":"https://orcid.org/0000-0003-4363-6108","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility Tsinghua University  Beijing 100084 China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, 100084 China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["Department of Informatics Technical University of Munich  85748 Munich Germany","Department of Informatics, Technical University of Munich, 85748 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics Technical University of Munich  85748 Munich Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, 85748 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025132563","display_name":"Boqi Li","orcid":"https://orcid.org/0000-0001-8959-1406"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Boqi Li","raw_affiliation_strings":["Department of Civil and Environmental Engineering University of Michigan  Ann Arbor MI 48105 USA","Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, 48105 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering University of Michigan  Ann Arbor MI 48105 USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, 48105 USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Department of Informatics Technical University of Munich  85748 Munich Germany","Department of Informatics, Technical University of Munich, 85748 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics Technical University of Munich  85748 Munich Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, 85748 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5025132563","https://openalex.org/A5100436368"],"corresponding_institution_ids":["https://openalex.org/I27837315","https://openalex.org/I99065089"],"apc_list":{"value":3190,"currency":"USD","value_usd":3190},"apc_paid":{"value":3190,"currency":"USD","value_usd":3190},"fwci":0.5037,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.56246971,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"5","issue":"10","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9908000230789185,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6364278793334961},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6106693148612976},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.47148963809013367},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4695088565349579},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4667912423610687},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.46238958835601807},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41394928097724915},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3435107469558716},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21647071838378906}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6364278793334961},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6106693148612976},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.47148963809013367},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4695088565349579},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4667912423610687},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.46238958835601807},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41394928097724915},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3435107469558716},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21647071838378906},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1002/aisy.202300269","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300269","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300269","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:deepblue.lib.umich.edu:2027.42/191317","is_oa":true,"landing_page_url":"https://hdl.handle.net/2027.42/191317","pdf_url":"https://hdl.handle.net/2027.42/191317","source":{"id":"https://openalex.org/S4306400393","display_name":"Deep Blue (University of Michigan)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I27837315","host_organization_name":"University of Michigan","host_organization_lineage":["https://openalex.org/I27837315"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:59f5e0445c08420db42ad9e50d3f33f2","is_oa":true,"landing_page_url":"https://doaj.org/article/59f5e0445c08420db42ad9e50d3f33f2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 5, Iss 10, Pp n/a-n/a (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202300269","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202300269","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202300269","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6700000166893005,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1095835165","display_name":null,"funder_award_id":"52221005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8672622026","display_name":null,"funder_award_id":"52131201","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386012090.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W2041051914","https://openalex.org/W2273777546","https://openalex.org/W2406067508","https://openalex.org/W2722424650","https://openalex.org/W2777207079","https://openalex.org/W2896794071","https://openalex.org/W2912361519","https://openalex.org/W2946231253","https://openalex.org/W2967322066","https://openalex.org/W2980634361","https://openalex.org/W2990380406","https://openalex.org/W3009593063","https://openalex.org/W3034269714","https://openalex.org/W3038740010","https://openalex.org/W3044934783","https://openalex.org/W3048422314","https://openalex.org/W3121045039","https://openalex.org/W3127128888","https://openalex.org/W3134491489","https://openalex.org/W3149774477","https://openalex.org/W3209459638","https://openalex.org/W3212248384","https://openalex.org/W4205452799","https://openalex.org/W4206505268","https://openalex.org/W4206673805","https://openalex.org/W4210444794","https://openalex.org/W4212795265","https://openalex.org/W4285272860","https://openalex.org/W4291653325","https://openalex.org/W4366429463"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2357101623","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W1510768092","https://openalex.org/W2611003898","https://openalex.org/W2015393961","https://openalex.org/W2230808081","https://openalex.org/W2378339670"],"abstract_inverted_index":{"Safe":[0],"and":[1,23,40,57,89,97,141,147,149,158,168,176],"human\u2010like":[2],"trajectory":[3,48,100,150],"planning":[4,12,39,49,79,101,118,127,151],"is":[5,17,103,120,130],"crucial":[6],"for":[7],"self\u2010driving":[8],"cars.":[9],"While":[10],"model\u2010based":[11,38],"has":[13],"demonstrated":[14],"reliability,":[15],"it":[16],"beneficial":[18],"to":[19,67],"incorporate":[20],"human":[21,28,69,84,179],"demonstrations":[22,70,146],"align":[24],"the":[25,35,65,78,99,111,124,169],"results":[26],"with":[27,132,144,152,178],"behaviors.":[29],"This":[30],"work":[31],"aims":[32],"at":[33],"bridging":[34],"gap":[36],"between":[37],"driver":[41],"imitation":[42],"by":[43],"proposing":[44],"a":[45,116],"constraint":[46],"imitative":[47],"method":[50],"(CITP).":[51],"CITP":[52,81,129],"integrates":[53],"artificial":[54],"potential":[55],"field":[56],"dynamic":[58],"movement":[59],"primitives,":[60],"which":[61],"have":[62],"achieved":[63],"both":[64,174],"ability":[66],"imitate":[68],"as":[71,73,92],"well":[72],"ensure":[74],"safety":[75,175],"constraints.":[76],"During":[77],"process,":[80],"first":[82],"encodes":[83],"demonstrations,":[85],"local":[86],"driving":[87,166],"target,":[88,145],"traffic":[90,114],"obstacles":[91],"attractive":[93,140],"or":[94],"repulsive":[95,142],"effects,":[96],"then":[98],"problem":[102],"solved":[104],"through":[105],"model":[106,153],"predictive":[107,154],"optimization.":[108,155],"To":[109],"address":[110],"dynamics":[112],"of":[113,126,173],"scenarios,":[115],"hierarchical":[117],"strategy":[119],"proposed":[121],"based":[122,163],"on":[123,164],"division":[125],"process.":[128],"designed":[131],"five":[133],"modules,":[134],"including":[135],"LSTM\u2010based":[136],"target":[137],"generation,":[138],"encoding":[139],"effects":[143],"obstacles,":[148],"Data":[156],"collection":[157],"experiments":[159],"are":[160,181],"carried":[161],"out":[162],"CARLA":[165],"simulator,":[167],"effectiveness":[170],"in":[171],"terms":[172],"consistency":[177],"behavior":[180],"reported.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}