{"id":"https://openalex.org/W2989788282","doi":"https://doi.org/10.1109/itsc.2019.8916917","title":"Optimal Trajectory Generation for Autonomous Vehicles Under Centripetal Acceleration Constraints for In-lane Driving Scenarios","display_name":"Optimal Trajectory Generation for Autonomous Vehicles Under Centripetal Acceleration Constraints for In-lane Driving Scenarios","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2989788282","doi":"https://doi.org/10.1109/itsc.2019.8916917","mag":"2989788282"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2019.8916917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8916917","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2112.02133","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006028146","display_name":"Yajia Zhang","orcid":"https://orcid.org/0000-0002-5907-4253"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yajia Zhang","raw_affiliation_strings":["Baidu USA LLC, Sunnyvale, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu USA LLC, Sunnyvale, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077136364","display_name":"Hongyi Sun","orcid":"https://orcid.org/0000-0002-8871-6673"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongyi Sun","raw_affiliation_strings":["Baidu USA LLC, Sunnyvale, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu USA LLC, Sunnyvale, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009801037","display_name":"Jinyun Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jinyun Zhou","raw_affiliation_strings":["Baidu USA LLC, Sunnyvale, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu USA LLC, Sunnyvale, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056388838","display_name":"Jiangtao Hu","orcid":"https://orcid.org/0000-0002-0210-9603"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiangtao Hu","raw_affiliation_strings":["Baidu USA LLC, Sunnyvale, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu USA LLC, Sunnyvale, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022644877","display_name":"Jinghao Miao","orcid":"https://orcid.org/0000-0002-6222-1285"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jinghao Miao","raw_affiliation_strings":["Baidu USA LLC, Sunnyvale, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Baidu USA LLC, Sunnyvale, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4236,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.85897618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3619","last_page":"3626"},"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":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9912999868392944,"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/jerk","display_name":"Jerk","score":0.9461526870727539},{"id":"https://openalex.org/keywords/centripetal-force","display_name":"Centripetal force","score":0.9425246715545654},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.889552116394043},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7898957133293152},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.6397861838340759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.63629549741745},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6063056588172913},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.606083869934082},{"id":"https://openalex.org/keywords/angular-acceleration","display_name":"Angular acceleration","score":0.49265676736831665},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.4678077697753906},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3214866518974304},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17958757281303406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14960595965385437},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08727225661277771}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9461526870727539},{"id":"https://openalex.org/C101302269","wikidata":"https://www.wikidata.org/wiki/Q172881","display_name":"Centripetal force","level":2,"score":0.9425246715545654},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.889552116394043},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7898957133293152},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.6397861838340759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.63629549741745},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6063056588172913},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.606083869934082},{"id":"https://openalex.org/C190704821","wikidata":"https://www.wikidata.org/wiki/Q186300","display_name":"Angular acceleration","level":3,"score":0.49265676736831665},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.4678077697753906},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3214866518974304},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17958757281303406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14960595965385437},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08727225661277771},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc.2019.8916917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8916917","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2112.02133","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.02133","pdf_url":"https://arxiv.org/pdf/2112.02133","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2112.02133","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.02133","pdf_url":"https://arxiv.org/pdf/2112.02133","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1820257007","https://openalex.org/W2000359213","https://openalex.org/W2004815408","https://openalex.org/W2032924574","https://openalex.org/W2049561732","https://openalex.org/W2107338474","https://openalex.org/W2121806728","https://openalex.org/W2123871098","https://openalex.org/W2139137304","https://openalex.org/W2165216595","https://openalex.org/W2406067508","https://openalex.org/W2408243243","https://openalex.org/W2514940730","https://openalex.org/W4297795145","https://openalex.org/W4297888977","https://openalex.org/W4302505531","https://openalex.org/W6843664180"],"related_works":["https://openalex.org/W2066235295","https://openalex.org/W2989788282","https://openalex.org/W152540351","https://openalex.org/W2039317814","https://openalex.org/W3024651654","https://openalex.org/W4297025053","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2021839849","https://openalex.org/W2356996864"],"abstract_inverted_index":{"This":[0,72],"paper":[1],"presents":[2],"a":[3,20,23,35],"noval":[4],"method":[5,18,73],"that":[6],"generates":[7,34],"optimal":[8,63],"trajectories":[9,64,79],"for":[10,13,65,77],"autonomous":[11],"vehicles":[12,66,85],"in-lane":[14],"driving":[15,37,51,67],"scenarios.":[16],"The":[17],"computes":[19],"trajectory":[21],"using":[22],"two-phase":[24],"optimization":[25,32],"procedure.":[26],"In":[27,43],"the":[28,31,44,47,50,69,84],"first":[29],"phase,":[30,46],"procedure":[33,48],"close-form":[36],"guide":[38,52,70],"line":[39,53],"with":[40],"differetiable":[41],"curvatures.":[42],"second":[45],"takes":[49],"as":[54],"input,":[55],"and":[56,61,91],"outputs":[57],"dynamically":[58],"feasible,":[59],"jerk":[60],"time":[62],"along":[68],"line.":[71],"is":[74],"especially":[75],"useful":[76],"generating":[78],"at":[80],"curvy":[81],"road":[82],"where":[83],"need":[86],"to":[87,93],"apply":[88],"frequent":[89],"accelerations":[90],"decelerations":[92],"accommodate":[94],"centripetal":[95],"acceleration":[96],"limits.":[97]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2019-12-05T00:00:00"}