{"id":"https://openalex.org/W3006096899","doi":"https://doi.org/10.1109/ispacs48206.2019.8986348","title":"Autonomous Vehicle Trajectory Planning and Control Based on Traffic Motion Prediction","display_name":"Autonomous Vehicle Trajectory Planning and Control Based on Traffic Motion Prediction","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3006096899","doi":"https://doi.org/10.1109/ispacs48206.2019.8986348","mag":"3006096899"},"language":"en","primary_location":{"id":"doi:10.1109/ispacs48206.2019.8986348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ispacs48206.2019.8986348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Symposium on Intelligent Signal Processing and Communication Systems (ISPACS)","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/A5081132237","display_name":"Yuho Song","orcid":"https://orcid.org/0000-0002-8830-015X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yuho Song","raw_affiliation_strings":["Hanyang University,Department of Automotive Engineering,Seoul,Korea","Department of Automotive Engineering, Hanyang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Automotive Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Automotive Engineering, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100777733","display_name":"Dongchan Kim","orcid":"https://orcid.org/0000-0002-8251-7104"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongchan Kim","raw_affiliation_strings":["Hanyang University,Department of Automotive Engineering,Seoul,Korea","Department of Automotive Engineering, Hanyang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Automotive Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Automotive Engineering, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085528812","display_name":"Kunsoo Huh","orcid":"https://orcid.org/0000-0002-7179-7841"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kunsoo Huh","raw_affiliation_strings":["Hanyang University,Department of Automotive Engineering,Seoul,Korea","Department of Automotive Engineering, Hanyang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Hanyang University,Department of Automotive Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Automotive Engineering, Hanyang University, Seoul, Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081132237"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":0.2546,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62527498,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"2"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10524","display_name":"Traffic control and management","score":0.996399998664856,"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/jerk","display_name":"Jerk","score":0.7926484942436218},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7921310663223267},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.7518070936203003},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6956934928894043},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.644656240940094},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5869566202163696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5192654132843018},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5110248327255249},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5105458498001099},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5007421970367432},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5001437664031982},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.47771143913269043},{"id":"https://openalex.org/keywords/speed-limit","display_name":"Speed limit","score":0.42889341711997986},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42501527070999146},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42363452911376953},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41590628027915955},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4075528383255005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3597320020198822},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3413146734237671},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33478844165802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21064496040344238},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.184109628200531},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.17246076464653015},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.12326446175575256},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08986276388168335}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.7926484942436218},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7921310663223267},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.7518070936203003},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6956934928894043},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.644656240940094},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5869566202163696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5192654132843018},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5110248327255249},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5105458498001099},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5007421970367432},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5001437664031982},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.47771143913269043},{"id":"https://openalex.org/C2780210587","wikidata":"https://www.wikidata.org/wiki/Q1077350","display_name":"Speed limit","level":2,"score":0.42889341711997986},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42501527070999146},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42363452911376953},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41590628027915955},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4075528383255005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3597320020198822},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3413146734237671},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33478844165802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21064496040344238},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.184109628200531},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.17246076464653015},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.12326446175575256},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08986276388168335},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ispacs48206.2019.8986348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ispacs48206.2019.8986348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Symposium on Intelligent Signal Processing and Communication Systems (ISPACS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hanyang.ac.kr:20.500.11754/157919","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/8986348","pdf_url":null,"source":{"id":"https://openalex.org/S4306401328","display_name":"The Royal Society of Chemistry\u2019s Journals, Books and Databases (The Royal Society of Chemistry)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2751430930","host_organization_name":"Royal Society of Chemistry","host_organization_lineage":["https://openalex.org/I2751430930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"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":6,"referenced_works":["https://openalex.org/W2013753693","https://openalex.org/W2166316739","https://openalex.org/W2296319761","https://openalex.org/W2792919579","https://openalex.org/W4248339654","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W4293226006","https://openalex.org/W2578626244","https://openalex.org/W2120267624"],"abstract_inverted_index":{"The":[0],"autonomous":[1],"vehicle":[2,32,45],"should":[3],"be":[4],"properly":[5],"operated":[6],"according":[7],"to":[8,71],"the":[9,15,27,30,34,40,44,47,53,58,61,66,73,79,83,88,91,99,102],"road":[10,80],"geometry":[11],"and":[12,51,82,104],"behavior":[13],"of":[14,29,43,60,101],"surrounding":[16,31,62],"vehicles.":[17,63],"For":[18],"this":[19],"purpose,":[20],"we":[21],"propose":[22],"a":[23],"supervisor":[24],"that":[25],"predicts":[26],"motion":[28],"using":[33],"artificial":[35],"potential":[36],"field":[37],"method,":[38],"determines":[39],"collision":[41,48,105],"risk":[42],"with":[46],"check":[49],"algorithm":[50],"generates":[52],"velocity":[54,59,84],"distribution":[55,85],"map":[56],"considering":[57,78,98],"In":[64],"addition,":[65],"trajectory":[67],"planner":[68],"is":[69,96],"designed":[70],"minimize":[72],"jerk":[74],"for":[75],"passenger":[76],"comfort,":[77],"shape":[81],"determined":[86],"by":[87],"supervisor.":[89],"Finally,":[90],"nonlinear":[92],"model":[93],"predictive":[94],"controller":[95],"formulated":[97],"limit":[100],"actuator":[103],"avoidance.":[106]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
