{"id":"https://openalex.org/W1989438871","doi":"https://doi.org/10.1109/cca.2010.5611299","title":"Motion planning for an autonomous vehicle driving on motorways by using flatness properties","display_name":"Motion planning for an autonomous vehicle driving on motorways by using flatness properties","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W1989438871","doi":"https://doi.org/10.1109/cca.2010.5611299","mag":"1989438871"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2010.5611299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","raw_type":"proceedings-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/A5030064097","display_name":"Yanfeng Cong","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN","DE"],"is_corresponding":true,"raw_author_name":"Yanfeng Cong","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","State key laboratory of automobile dynamic Simulation, Jilin University, China"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"State key laboratory of automobile dynamic Simulation, Jilin University, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054507125","display_name":"Oliver Sawodny","orcid":"https://orcid.org/0000-0002-6910-2473"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420473","display_name":"Hong Chen","orcid":"https://orcid.org/0000-0003-4053-7147"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Chen","raw_affiliation_strings":["Jilin University, Changchun, Jilin, CN"],"affiliations":[{"raw_affiliation_string":"Jilin University, Changchun, Jilin, CN","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008650872","display_name":"Jan Zimmermann","orcid":"https://orcid.org/0000-0003-3345-6074"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Zimmermann","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009332943","display_name":"A. Lutz","orcid":"https://orcid.org/0009-0002-9103-3862"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Lutz","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030064097"],"corresponding_institution_ids":["https://openalex.org/I100066346","https://openalex.org/I194450716"],"apc_list":null,"apc_paid":null,"fwci":0.3187,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.56617938,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"908","last_page":"913"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"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/flatness","display_name":"Flatness (cosmology)","score":0.8201783299446106},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7282972931861877},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.67210853099823},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.650976836681366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6135429739952087},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5433235764503479},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5283340215682983},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5043338537216187},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4827641546726227},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.422094464302063},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4052271544933319},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26249778270721436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21217671036720276},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.19001200795173645},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.17835626006126404},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10305997729301453},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09115615487098694},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06340247392654419}],"concepts":[{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.8201783299446106},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7282972931861877},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.67210853099823},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.650976836681366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6135429739952087},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5433235764503479},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5283340215682983},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5043338537216187},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4827641546726227},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.422094464302063},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4052271544933319},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26249778270721436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21217671036720276},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.19001200795173645},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.17835626006126404},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10305997729301453},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09115615487098694},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06340247392654419},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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":1,"locations":[{"id":"doi:10.1109/cca.2010.5611299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5699999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1577785134","https://openalex.org/W1999582762","https://openalex.org/W2001570019","https://openalex.org/W2045481323","https://openalex.org/W2065297540","https://openalex.org/W2113354294","https://openalex.org/W2142740248","https://openalex.org/W2145006118","https://openalex.org/W2163106537","https://openalex.org/W2167324183","https://openalex.org/W2532630449"],"related_works":["https://openalex.org/W2789295429","https://openalex.org/W2066314436","https://openalex.org/W2733767282","https://openalex.org/W2510927817","https://openalex.org/W2540573954","https://openalex.org/W2743501974","https://openalex.org/W2782313579","https://openalex.org/W2588834286","https://openalex.org/W2508288055","https://openalex.org/W2145006118"],"abstract_inverted_index":{"In":[0,42],"this":[1],"paper,":[2],"a":[3,17,73],"motion":[4],"planning":[5],"algorithm":[6],"based":[7],"on":[8],"differential":[9],"flatness":[10],"for":[11],"an":[12],"autonomous":[13],"vehicle":[14,78],"driving":[15],"in":[16],"structured":[18,29],"environment":[19,30],"with":[20,81],"moving":[21],"obstacles":[22],"is":[23,49],"presented.":[24],"A":[25],"descriptions":[26],"of":[27,33,37,69,72,76],"the":[28,38,47,70,82],"and":[31,35,51,55],"definitions":[32],"safety":[34],"availability":[36],"lane":[39],"are":[40,59,65],"proposed.":[41],"order":[43],"to":[44],"ensure":[45],"that":[46],"trajectory":[48,84],"feasible":[50],"effective,":[52],"dynamic":[53],"longitudinal":[54],"lateral":[56],"acceleration":[57],"constraints":[58],"taken":[60],"into":[61],"account.":[62],"Simulation":[63],"results":[64],"validated":[66],"by":[67],"measurements":[68],"outputs":[71],"14":[74],"degrees":[75],"freedom":[77],"dynamics":[79],"model":[80],"generated":[83],"as":[85],"inputs.":[86]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}