{"id":"https://openalex.org/W4313453241","doi":"https://doi.org/10.1080/15472450.2022.2137795","title":"Lane change for self-driving in highly dense traffic using motion based uncertainty propagation","display_name":"Lane change for self-driving in highly dense traffic using motion based uncertainty propagation","publication_year":2023,"publication_date":"2023-01-03","ids":{"openalex":"https://openalex.org/W4313453241","doi":"https://doi.org/10.1080/15472450.2022.2137795"},"language":"en","primary_location":{"id":"doi:10.1080/15472450.2022.2137795","is_oa":false,"landing_page_url":"https://doi.org/10.1080/15472450.2022.2137795","pdf_url":null,"source":{"id":"https://openalex.org/S172631016","display_name":"Journal of Intelligent Transportation Systems","issn_l":"1547-2442","issn":["1547-2442","1547-2450"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","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/A5010630485","display_name":"Jongsang Suh","orcid":"https://orcid.org/0000-0002-9241-2680"},"institutions":[{"id":"https://openalex.org/I4210149442","display_name":"Fusion Academy","ror":"https://ror.org/05rwjyj14","country_code":"US","type":"education","lineage":["https://openalex.org/I4210149442"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jongsang Suh","raw_affiliation_strings":["Control and Sensor Fusion Team, Phantom AI, Burlingame, California, USA"],"raw_orcid":"https://orcid.org/0000-0002-9241-2680","affiliations":[{"raw_affiliation_string":"Control and Sensor Fusion Team, Phantom AI, Burlingame, California, USA","institution_ids":["https://openalex.org/I4210149442"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082423634","display_name":"So Y. An","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"So Y. An","raw_affiliation_strings":["351 CACOM, US Army, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"351 CACOM, US Army, Mountain View, California, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5010630485"],"corresponding_institution_ids":["https://openalex.org/I4210149442"],"apc_list":null,"apc_paid":null,"fwci":0.8967,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72526537,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"28","issue":"4","first_page":"425","last_page":"442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"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/T10524","display_name":"Traffic control and management","score":0.9991999864578247,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9977999925613403,"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/carsim","display_name":"CarSim","score":0.92762291431427},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6660521030426025},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6110114455223083},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5984861254692078},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4938719868659973},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4043358564376831},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3834672272205353},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3065161108970642},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19414135813713074}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.92762291431427},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6660521030426025},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6110114455223083},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5984861254692078},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4938719868659973},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4043358564376831},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3834672272205353},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3065161108970642},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19414135813713074},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/15472450.2022.2137795","is_oa":false,"landing_page_url":"https://doi.org/10.1080/15472450.2022.2137795","pdf_url":null,"source":{"id":"https://openalex.org/S172631016","display_name":"Journal of Intelligent Transportation Systems","issn_l":"1547-2442","issn":["1547-2442","1547-2450"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6499999761581421,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W433210086","https://openalex.org/W1544016679","https://openalex.org/W1592601589","https://openalex.org/W1902273833","https://openalex.org/W1965738920","https://openalex.org/W1978956894","https://openalex.org/W1981723834","https://openalex.org/W1985574396","https://openalex.org/W1997744380","https://openalex.org/W2052906535","https://openalex.org/W2054469884","https://openalex.org/W2058180615","https://openalex.org/W2067645499","https://openalex.org/W2076641619","https://openalex.org/W2093957144","https://openalex.org/W2105574780","https://openalex.org/W2106993639","https://openalex.org/W2111901564","https://openalex.org/W2112320238","https://openalex.org/W2112930335","https://openalex.org/W2116554046","https://openalex.org/W2117402460","https://openalex.org/W2139430868","https://openalex.org/W2149372643","https://openalex.org/W2151992080","https://openalex.org/W2156958801","https://openalex.org/W2166377439","https://openalex.org/W2331435965","https://openalex.org/W2414314672","https://openalex.org/W2517967167","https://openalex.org/W2537623947","https://openalex.org/W2569836025","https://openalex.org/W2790176947","https://openalex.org/W2884690226","https://openalex.org/W2963999210","https://openalex.org/W4403094782","https://openalex.org/W6632920698"],"related_works":["https://openalex.org/W2909231926","https://openalex.org/W2784025224","https://openalex.org/W32453388","https://openalex.org/W2378271852","https://openalex.org/W1977118728","https://openalex.org/W3133799104","https://openalex.org/W2907267033","https://openalex.org/W2126623953","https://openalex.org/W2629990380","https://openalex.org/W4307856703"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,44,69,85],"design":[4],"of":[5,33,107],"lane":[6,58,116],"change":[7,57],"decision":[8,50],"and":[9,25,99,111],"control":[10],"algorithm":[11,36,90,110],"in":[12,43,60,97,117],"highly":[13],"dense":[14,62],"traffic":[15,63,120],"situation":[16,46,64],"for":[17,114],"self-driving":[18],"vehicles":[19],"using":[20],"motion-based":[21,79],"adaptive":[22,80],"uncertainty":[23,81],"propagation":[24,82],"Stochastic":[26],"Model":[27],"Predictive":[28],"Control":[29],"(SMPC).":[30],"Essential":[31],"ideas":[32],"the":[34,61,105,108,118],"proposed":[35,89,109],"are":[37],"introduced;":[38],"i)":[39],"an":[40],"optimal":[41],"motion":[42],"current":[45],"with":[47],"multiple":[48],"criteria":[49],"making":[51],"(MCDM),":[52],"ii)":[53],"four":[54],"steps":[55],"to":[56,83],"successfully":[59],"which":[65],"is":[66],"modeled":[67],"as":[68],"simple":[70],"acceleration":[71],"model":[72,86],"based":[73],"on":[74],"real":[75],"driving":[76],"data,":[77],"iii)":[78],"consider":[84],"error.":[87],"The":[88,101],"has":[91],"been":[92],"evaluated":[93],"via":[94],"simulation":[95,102],"studies":[96],"MATLAB/Simulink":[98],"CARSIM.":[100],"results":[103],"show":[104],"effectiveness":[106],"its":[112],"performance":[113],"changing":[115],"highly-dense":[119],"situation.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}