{"id":"https://openalex.org/W7081949564","doi":"https://doi.org/10.1109/access.2025.3609394","title":"A Hierarchical Approach to Trajectory Planning for Autonomous Vehicles on Curvy Roads","display_name":"A Hierarchical Approach to Trajectory Planning for Autonomous Vehicles on Curvy Roads","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7081949564","doi":"https://doi.org/10.1109/access.2025.3609394"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3609394","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3609394","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2025.3609394","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Fuzhou Zhao","orcid":"https://orcid.org/0000-0002-8194-2969"},"institutions":[{"id":"https://openalex.org/I308837","display_name":"Suzhou University of Science and Technology","ror":"https://ror.org/04en8wb91","country_code":"CN","type":"education","lineage":["https://openalex.org/I308837"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuzhou Zhao","raw_affiliation_strings":["School of Automotive Engineering, Suzhou University of Technology, Suzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8194-2969","affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Suzhou University of Technology, Suzhou, China","institution_ids":["https://openalex.org/I308837"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Heye Huang","orcid":"https://orcid.org/0000-0002-8964-8764"},"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":"Heye Huang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8964-8764","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xuemei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I308837","display_name":"Suzhou University of Science and Technology","ror":"https://ror.org/04en8wb91","country_code":"CN","type":"education","lineage":["https://openalex.org/I308837"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuemei Wang","raw_affiliation_strings":["School of Automotive Engineering, Suzhou University of Technology, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Suzhou University of Technology, Suzhou, China","institution_ids":["https://openalex.org/I308837"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ling Han","orcid":"https://orcid.org/0009-0003-9541-0378"},"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":"Ling Han","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-9541-0378","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Fei Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I308837","display_name":"Suzhou University of Science and Technology","ror":"https://ror.org/04en8wb91","country_code":"CN","type":"education","lineage":["https://openalex.org/I308837"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Ye","raw_affiliation_strings":["School of Automotive Engineering, Suzhou University of Technology, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Suzhou University of Technology, Suzhou, China","institution_ids":["https://openalex.org/I308837"]}]},{"author_position":"last","author":{"id":null,"display_name":"Mingyang Cui","orcid":null},"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":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.55775658,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"160692","last_page":"160706"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.664900004863739,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.664900004863739,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T13067","display_name":"Geological Modeling and Analysis","score":0.029600000008940697,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14311","display_name":"Electrical and Electromagnetic Research","score":0.019300000742077827,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8557999730110168},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7069000005722046},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.6155999898910522},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5916000008583069},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5633999705314636},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5501000285148621},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.49230000376701355},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4805000126361847},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.4343000054359436}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8557999730110168},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7069000005722046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6507999897003174},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.6155999898910522},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5916000008583069},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5633999705314636},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5501000285148621},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.49230000376701355},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4805000126361847},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.4343000054359436},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4278999865055084},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.3684000074863434},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.34769999980926514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3271999955177307},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28540000319480896},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26170000433921814},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3609394","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3609394","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d55572041d7d4ff5959f8c89ae74819b","is_oa":true,"landing_page_url":"https://doaj.org/article/d55572041d7d4ff5959f8c89ae74819b","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 13, Pp 160692-160706 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3609394","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3609394","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2062855539","display_name":null,"funder_award_id":"KYF2213","funder_id":"https://openalex.org/F4320326925","funder_display_name":"State Key Laboratory of Automotive Safety and Energy"}],"funders":[{"id":"https://openalex.org/F4320326925","display_name":"State Key Laboratory of Automotive Safety and Energy","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W135651235","https://openalex.org/W1601081659","https://openalex.org/W1977085960","https://openalex.org/W2136173754","https://openalex.org/W2345973286","https://openalex.org/W2887413094","https://openalex.org/W2900861938","https://openalex.org/W2921580667","https://openalex.org/W2954374674","https://openalex.org/W2962683513","https://openalex.org/W2967952682","https://openalex.org/W2990762375","https://openalex.org/W3007663754","https://openalex.org/W3015762759","https://openalex.org/W3017736836","https://openalex.org/W3025631768","https://openalex.org/W3086943201","https://openalex.org/W3091964200","https://openalex.org/W3092124468","https://openalex.org/W3114470638","https://openalex.org/W3130453376","https://openalex.org/W3173607420","https://openalex.org/W3198919602","https://openalex.org/W4210607981","https://openalex.org/W4307935840","https://openalex.org/W4310121810","https://openalex.org/W4312743480","https://openalex.org/W4313184910","https://openalex.org/W4313591698","https://openalex.org/W4319866198","https://openalex.org/W4321021742","https://openalex.org/W4376631397","https://openalex.org/W4383743439","https://openalex.org/W4385254077","https://openalex.org/W4386472868","https://openalex.org/W4387609198","https://openalex.org/W4390534862","https://openalex.org/W4390604996","https://openalex.org/W4390831799","https://openalex.org/W4391065986","https://openalex.org/W4391576605","https://openalex.org/W4396214333","https://openalex.org/W4405599152"],"related_works":[],"abstract_inverted_index":{"This":[0,88],"paper":[1],"introduces":[2],"a":[3,65,110],"three-layer":[4],"trajectory":[5,27,42,79,117,122,146,174],"planner":[6],"to":[7,40,49,70,76,149,180],"enhance":[8],"the":[9,25,31,50,54,59,77,93,96,102,107,115,121,130,138,150,159,166,172],"planning":[10],"speed":[11],"and":[12,101],"kinematics":[13],"of":[14,68,95,109,120,169],"intelligent":[15],"vehicles,":[16],"navigating":[17],"dynamic":[18,35,187],"traffic":[19],"environments":[20],"on":[21],"curvy":[22],"roads.":[23],"Within":[24],"coarse":[26],"layer,":[28,80,118],"we":[29,81],"present":[30],"innovative":[32],"jump":[33,60,97],"node":[34,61,98],"programming":[36],"(DP)":[37],"algorithm,":[38,53],"designed":[39],"circumvent":[41],"searches":[43],"for":[44],"overlapping":[45],"nodes.":[46],"In":[47,114],"contrast":[48],"conventional":[51],"DP":[52,62,86,99,132,152],"decision-making":[55],"efficiency":[56],"achieved":[57],"with":[58],"algorithm":[63,100],"demonstrates":[64],"substantial":[66,125],"improvement":[67],"up":[69,179],"30.6%":[71],"within":[72,158],"simulated":[73],"environments.":[74],"Transitioning":[75],"reference":[78,112],"put":[82],"forth":[83],"an":[84],"improved":[85,131,151],"strategy.":[87,143],"strategy":[89,153],"is":[90],"forged":[91],"through":[92,137],"integration":[94],"joint":[103],"interpolation":[104],"method,":[105],"permitting":[106],"generation":[108],"crafted":[111],"trajectory.":[113],"alternate":[116],"segments":[119,147],"characterized":[123],"by":[124,129,178],"curvature,":[126],"as":[127],"planned":[128,173],"strategy,":[133],"undergo":[134],"initial":[135],"replanning":[136],"adaptive":[139],"cruise":[140],"control":[141],"(ACC)":[142],"Subsequently,":[144],"these":[145],"revert":[148],"after":[154],"traversing":[155],"specific":[156],"waypoints":[157],"receding":[160],"horizon.":[161],"Simulation":[162],"cases":[163],"illustrate":[164],"that":[165],"minimum":[167],"radius":[168],"curvature":[170],"in":[171],"can":[175],"be":[176],"augmented":[177],"12.7%.":[181],"All":[182],"proposed":[183],"algorithms":[184],"have":[185],"undergone":[186],"simulation":[188],"experiments,":[189],"affirming":[190],"their":[191],"effectiveness.":[192]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
