{"id":"https://openalex.org/W1963942272","doi":"https://doi.org/10.1109/itsc.2014.6957889","title":"A path planning algorithm based on fusing lane and obstacle map","display_name":"A path planning algorithm based on fusing lane and obstacle map","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W1963942272","doi":"https://doi.org/10.1109/itsc.2014.6957889","mag":"1963942272"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2014.6957889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2014.6957889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"17th International IEEE Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100369679","display_name":"Hao Zhu","orcid":"https://orcid.org/0000-0002-8519-0629"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation Beijing Institute of Technology 100081 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology 100081 China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation Beijing Institute of Technology 100081 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology 100081 China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102207499","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0002-3761-5127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation Beijing Institute of Technology 100081 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology 100081 China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326162","display_name":"Xinyu Wang","orcid":"https://orcid.org/0009-0003-3655-1429"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Wang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation Beijing Institute of Technology 100081 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology 100081 China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416064","display_name":"Meiling Wang","orcid":"https://orcid.org/0000-0002-3618-7423"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiling Wang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation Beijing Institute of Technology 100081 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation Beijing Institute of Technology 100081 China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1442","last_page":"1448"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.916603684425354},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7767837047576904},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.7650891542434692},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7090258002281189},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6060260534286499},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5393391251564026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.512502908706665},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5108366012573242},{"id":"https://openalex.org/keywords/line-segment","display_name":"Line segment","score":0.4214267134666443},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35979199409484863},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1352798044681549},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12459629774093628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11238735914230347}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.916603684425354},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7767837047576904},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.7650891542434692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7090258002281189},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6060260534286499},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5393391251564026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.512502908706665},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5108366012573242},{"id":"https://openalex.org/C182124507","wikidata":"https://www.wikidata.org/wiki/Q166154","display_name":"Line segment","level":2,"score":0.4214267134666443},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35979199409484863},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1352798044681549},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12459629774093628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11238735914230347},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2014.6957889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2014.6957889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"17th International IEEE Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8299999833106995,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1677409904","https://openalex.org/W1993436321","https://openalex.org/W2028603096","https://openalex.org/W2107338474","https://openalex.org/W2115448105","https://openalex.org/W2118545852","https://openalex.org/W2144824356","https://openalex.org/W2145602062","https://openalex.org/W2758107681","https://openalex.org/W3102168793","https://openalex.org/W4293682399","https://openalex.org/W6637400245","https://openalex.org/W6676990836"],"related_works":["https://openalex.org/W2394276631","https://openalex.org/W3216096898","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W2394338370","https://openalex.org/W2061353171"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,39,54,68],"path":[4,80],"planning":[5,79,87],"algorithm":[6,88],"for":[7,52],"autonomous":[8,118],"driving":[9,100],"in":[10,30],"urban":[11],"environments.":[12],"The":[13,45,110],"processing":[14],"of":[15,25,56,70,78],"video":[16],"and":[17,28,42,59,73,81,98],"Velodyne":[18],"pointcloud":[19],"provides":[20],"information":[21],"about":[22],"the":[23,31,60],"positions":[24],"lane":[26,40],"markers":[27],"obstacles":[29],"local":[32],"map,":[33],"which":[34,120],"are":[35],"then":[36],"converted":[37],"to":[38,67],"costmap":[41],"obstacle":[43,72],"costmap.":[44],"referenced":[46],"GIS":[47],"follow":[48,62],"line":[49,63],"is":[50,64,84,114],"used":[51],"generating":[53],"series":[55],"offset":[57],"curves,":[58],"best":[61],"selected":[65],"according":[66],"combination":[69],"lane,":[71],"background":[74],"cost.":[75],"Additional":[76],"handling":[77],"maximum":[82],"speed":[83],"provided.":[85],"Our":[86],"can":[89],"handle":[90],"various":[91],"road":[92],"types":[93],"such":[94],"as":[95],"U-turn,":[96],"intersections,":[97],"different":[99],"behaviors":[101],"including":[102],"passing":[103],"over":[104],"or":[105],"following":[106],"front":[107],"vehicles,":[108],"etc.":[109],"proposed":[111],"navigation":[112],"framework":[113],"implemented":[115],"on":[116,124],"an":[117],"vehicle,":[119],"exhibits":[121],"good":[122],"performance":[123],"Future":[125],"Challenge":[126],"2013,":[127],"Changshu,":[128],"China.":[129]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
