{"id":"https://openalex.org/W1642858045","doi":"https://doi.org/10.1109/iccis.2015.7274566","title":"Autonomous vehicle planning system design under perception limitation in pedestrian environment","display_name":"Autonomous vehicle planning system design under perception limitation in pedestrian environment","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1642858045","doi":"https://doi.org/10.1109/iccis.2015.7274566","mag":"1642858045"},"language":"en","primary_location":{"id":"doi:10.1109/iccis.2015.7274566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2015.7274566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5100431626","display_name":"Wei Liu","orcid":"https://orcid.org/0000-0001-5384-6462"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Wei Liu","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Kent Ridge, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Kent Ridge, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030121620","display_name":"Zhiyong Weng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhiyong Weng","raw_affiliation_strings":["MIT Alliance for Research & Technology, Singapore","Singapore\u2010MIT Alliance for Research and Technology Singapore"],"affiliations":[{"raw_affiliation_string":"MIT Alliance for Research & Technology, Singapore","institution_ids":["https://openalex.org/I4210167254"]},{"raw_affiliation_string":"Singapore\u2010MIT Alliance for Research and Technology Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028092375","display_name":"Zhuangjie Chong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhuangjie Chong","raw_affiliation_strings":["MIT Alliance for Research & Technology, Singapore","Singapore\u2010MIT Alliance for Research and Technology Singapore"],"affiliations":[{"raw_affiliation_string":"MIT Alliance for Research & Technology, Singapore","institution_ids":["https://openalex.org/I4210167254"]},{"raw_affiliation_string":"Singapore\u2010MIT Alliance for Research and Technology Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074904348","display_name":"Xiaotong Shen","orcid":"https://orcid.org/0000-0003-1300-1451"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaotong Shen","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Kent Ridge, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Kent Ridge, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060443387","display_name":"Scott Pendleton","orcid":"https://orcid.org/0000-0001-9656-8044"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Scott Pendleton","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Kent Ridge, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Kent Ridge, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102499582","display_name":"Baoxing Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Baoxing Qin","raw_affiliation_strings":["MIT Alliance for Research & Technology, Singapore","Singapore\u2010MIT Alliance for Research and Technology Singapore"],"affiliations":[{"raw_affiliation_string":"MIT Alliance for Research & Technology, Singapore","institution_ids":["https://openalex.org/I4210167254"]},{"raw_affiliation_string":"Singapore\u2010MIT Alliance for Research and Technology Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031054029","display_name":"Guo Ming James Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guo Ming James Fu","raw_affiliation_strings":["Singapore-MIT Alliance for Research & Technology, Singapore","Singapore\u2010MIT Alliance for Research and Technology Singapore"],"affiliations":[{"raw_affiliation_string":"Singapore-MIT Alliance for Research & Technology, Singapore","institution_ids":["https://openalex.org/I4210167254"]},{"raw_affiliation_string":"Singapore\u2010MIT Alliance for Research and Technology Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Kent Ridge, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Kent Ridge, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100431626"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.6569,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.88906569,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"159","last_page":"166"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.8653788566589355},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7857533097267151},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6262909173965454},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5708900094032288},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5194315910339355},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.49283361434936523},{"id":"https://openalex.org/keywords/pedestrian-detection","display_name":"Pedestrian detection","score":0.4904739558696747},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4530890882015228},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.4193945825099945},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.346095472574234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3301845192909241},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29519087076187134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22427889704704285},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09509384632110596},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.09352198243141174}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.8653788566589355},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7857533097267151},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6262909173965454},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708900094032288},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5194315910339355},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.49283361434936523},{"id":"https://openalex.org/C2780156472","wikidata":"https://www.wikidata.org/wiki/Q2355550","display_name":"Pedestrian detection","level":3,"score":0.4904739558696747},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4530890882015228},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.4193945825099945},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.346095472574234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3301845192909241},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29519087076187134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22427889704704285},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09509384632110596},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.09352198243141174},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccis.2015.7274566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2015.7274566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W87278644","https://openalex.org/W155097506","https://openalex.org/W1504992226","https://openalex.org/W1968411243","https://openalex.org/W1971086298","https://openalex.org/W2015929643","https://openalex.org/W2025217226","https://openalex.org/W2034207289","https://openalex.org/W2046457978","https://openalex.org/W2054428259","https://openalex.org/W2082585576","https://openalex.org/W2096349671","https://openalex.org/W2110307800","https://openalex.org/W2120179083","https://openalex.org/W2121806728","https://openalex.org/W2145859819","https://openalex.org/W2154844948","https://openalex.org/W2172232410","https://openalex.org/W2294331969","https://openalex.org/W2406067508","https://openalex.org/W2505763307","https://openalex.org/W3212743282","https://openalex.org/W6603520242","https://openalex.org/W6678081342"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2972620127","https://openalex.org/W2981141433","https://openalex.org/W2394276631","https://openalex.org/W2060079488","https://openalex.org/W2947029330"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"within":[2,55,91],"the":[3,10,16,19,25,44,48,56,61,69,92],"pedestrian":[4,45,58,94],"environment":[5],"is":[6,13,22,66],"always":[7],"challenging,":[8],"as":[9],"perception":[11,42],"ability":[12],"limited":[14,41],"by":[15,24],"crowdedness":[17],"and":[18,53,74,89],"planning":[20,36,80],"process":[21],"constrained":[23],"complicated":[26],"human":[27],"behaviors.":[28],"In":[29],"this":[30],"paper,":[31],"we":[32],"present":[33],"a":[34],"vehicle":[35,75,79],"system":[37,81],"for":[38,68],"self-driving":[39],"with":[40],"in":[43],"environment.":[46,95],"Acknowledging":[47],"difficulty":[49],"of":[50,71],"obstacle":[51],"detection":[52],"tracking":[54],"crowded":[57],"environment,":[59],"only":[60],"raw":[62],"LIDAR":[63],"sensing":[64],"data":[65],"employed":[67],"purpose":[70],"traversability":[72],"analysis":[73],"planning.":[76],"The":[77],"designed":[78],"has":[82],"been":[83],"experimentally":[84],"validated":[85],"to":[86],"be":[87],"robust":[88],"safe":[90],"populated":[93]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
