{"id":"https://openalex.org/W4401109590","doi":"https://doi.org/10.1109/access.2024.3435668","title":"Optimizing Lane Change Precision in Autonomous Vehicles: Smooth Trajectory Execution With MPC-Based State Estimation","display_name":"Optimizing Lane Change Precision in Autonomous Vehicles: Smooth Trajectory Execution With MPC-Based State Estimation","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4401109590","doi":"https://doi.org/10.1109/access.2024.3435668"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3435668","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3435668","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3435668","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085987721","display_name":"M. H. Heyi","orcid":"https://orcid.org/0000-0002-3977-2767"},"institutions":[{"id":"https://openalex.org/I4210112756","display_name":"Centre Hospitalier de l'Agglom\u00e9ration de Nevers","ror":"https://ror.org/01k703c10","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210112756"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Heyi Muluneh Hailu","raw_affiliation_strings":["DRIVE Laboratory, Universit&#x00E9; de Bourgogne, Nevers, France"],"raw_orcid":"https://orcid.org/0000-0002-3977-2767","affiliations":[{"raw_affiliation_string":"DRIVE Laboratory, Universit&#x00E9; de Bourgogne, Nevers, France","institution_ids":["https://openalex.org/I4210112756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091155689","display_name":"Salim Hima","orcid":"https://orcid.org/0000-0003-0372-0102"},"institutions":[{"id":"https://openalex.org/I4210094080","display_name":"ESME - \u00c9cole d\u2019ing\u00e9nieurs pluridisciplinaires","ror":"https://ror.org/00nf3nv81","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210094080"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Salim Hima","raw_affiliation_strings":["ESME Research Lab, Ivry-sur-Seine, France","Department of Energy and Systems, ESME Engineering School, Ivry-sur-Seine, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ESME Research Lab, Ivry-sur-Seine, France","institution_ids":["https://openalex.org/I4210094080"]},{"raw_affiliation_string":"Department of Energy and Systems, ESME Engineering School, Ivry-sur-Seine, Paris, France","institution_ids":["https://openalex.org/I4210094080"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107907627","display_name":"Ahmed Chaibet","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112756","display_name":"Centre Hospitalier de l'Agglom\u00e9ration de Nevers","ror":"https://ror.org/01k703c10","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210112756"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Chaibet","raw_affiliation_strings":["DRIVE Laboratory, Universit&#x00E9; de Bourgogne, Nevers, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DRIVE Laboratory, Universit&#x00E9; de Bourgogne, Nevers, France","institution_ids":["https://openalex.org/I4210112756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.3426,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.48804451,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"105027","last_page":"105041"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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":0.9994999766349792,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9993000030517578,"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":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8195022344589233},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7946246266365051},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6674730777740479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6628825664520264},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5955828428268433},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4641472101211548},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.422066330909729},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4101959466934204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20740967988967896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15950101613998413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11189913749694824},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.08297333121299744},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.06251263618469238},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06134456396102905}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8195022344589233},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7946246266365051},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6674730777740479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6628825664520264},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5955828428268433},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4641472101211548},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.422066330909729},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4101959466934204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20740967988967896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15950101613998413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11189913749694824},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.08297333121299744},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.06251263618469238},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06134456396102905},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3435668","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3435668","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:165f1e3667d640faba6c6bf8a34a4115","is_oa":true,"landing_page_url":"https://doaj.org/article/165f1e3667d640faba6c6bf8a34a4115","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":"IEEE Access, Vol 12, Pp 105027-105041 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3435668","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3435668","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W30014347","https://openalex.org/W1749494163","https://openalex.org/W1996307609","https://openalex.org/W2062324513","https://openalex.org/W2098487671","https://openalex.org/W2107338474","https://openalex.org/W2123487311","https://openalex.org/W2168674800","https://openalex.org/W2786598610","https://openalex.org/W2792482170","https://openalex.org/W2802715779","https://openalex.org/W2922728516","https://openalex.org/W2978787066","https://openalex.org/W2996252454","https://openalex.org/W3045040561","https://openalex.org/W3121389473","https://openalex.org/W3134785718","https://openalex.org/W3137361670","https://openalex.org/W3166956873","https://openalex.org/W3177124139","https://openalex.org/W4205797172","https://openalex.org/W4212872054","https://openalex.org/W4213367538","https://openalex.org/W4226175347","https://openalex.org/W4226180458","https://openalex.org/W4229371055","https://openalex.org/W4281718849","https://openalex.org/W4285202067","https://openalex.org/W4308734407","https://openalex.org/W4316467092","https://openalex.org/W4317620402","https://openalex.org/W4327814866","https://openalex.org/W4361802189","https://openalex.org/W4379229650","https://openalex.org/W6629226976","https://openalex.org/W6631209646","https://openalex.org/W6791917939"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W4287880334","https://openalex.org/W2320550378","https://openalex.org/W4372347353","https://openalex.org/W2020144404","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2145006118"],"abstract_inverted_index":{"Autonomous":[0],"vehicle":[1],"lane":[2,27,84,130,156],"change":[3,28,85,131,157],"maneuvers":[4,29],"are":[5,90],"an":[6,68],"intricate":[7],"task":[8],"that":[9],"requires":[10],"multiple":[11],"subsystems":[12],"to":[13,16,66,79],"work":[14],"together":[15],"ensure":[17],"the":[18,42,55,87,129,146,152,168],"maneuver\u2019s":[19],"safety":[20],"and":[21,75,99,121,136],"efficiency.":[22],"This":[23],"research":[24],"paper":[25,106],"investigates":[26],"of":[30,128],"autonomous":[31],"vehicles,":[32],"utilizing":[33],"a":[34,38],"trajectory":[35,132],"generated":[36,56],"using":[37,61,92],"sinusoidal":[39],"function":[40],"considering":[41],"ISO":[43],"3888":[44],"standards.":[45],"The":[46,105,126],"driving":[47],"maneuver":[48],"steering":[49,70],"angle":[50,71],"input":[51,78,98],"is":[52,59],"derived":[53],"from":[54,102,167],"trajectory,":[57],"which":[58],"adjusted":[60],"model":[62],"predictive":[63],"control":[64],"(MPC)":[65],"calculate":[67],"optimal":[69,153],"for":[72,155],"lateral":[73],"movement":[74],"manage":[76],"throttle":[77],"maintain":[80],"longitudinal":[81],"stability.":[82],"Throughout":[83],"maneuvers,":[86],"vehicle\u2019s":[88],"states":[89],"estimated":[91],"model-based":[93],"Kalman":[94,113,116,119,124,149],"filters,":[95],"relying":[96],"on":[97],"measurement":[100],"data":[101],"inertial":[103],"sensors.":[104],"compares":[107],"four":[108],"state":[109,137,158],"estimator":[110],"filters:":[111],"Standard":[112],"Filter,":[114,117,120],"Extended":[115],"Unscented":[118,123,148],"Adaptive":[122,147],"Filter.":[125],"implementation":[127],"generator,":[133],"MPC":[134],"algorithm,":[135],"estimators":[138],"within":[139],"MATLAB/Simulink,":[140],"validated":[141],"through":[142],"IPG":[143],"CarMaker,":[144],"highlights":[145],"Filter":[150],"as":[151],"choice":[154],"estimation.":[159],"Its":[160],"adaptive":[161],"covariance":[162],"adjustment":[163],"sets":[164],"it":[165],"apart":[166],"other":[169],"filters":[170],"under":[171],"examination.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
