{"id":"https://openalex.org/W3208175178","doi":"https://doi.org/10.1109/itsc48978.2021.9565033","title":"Planning Autonomous Driving with Compact Road Profiles","display_name":"Planning Autonomous Driving with Compact Road Profiles","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3208175178","doi":"https://doi.org/10.1109/itsc48978.2021.9565033","mag":"3208175178"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9565033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9565033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://scholarworks.indianapolis.iu.edu/bitstreams/390e8384-346d-4929-a6f3-a0e50b67c0b9/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006775539","display_name":"Zheyuan Wang","orcid":"https://orcid.org/0000-0001-6364-5074"},"institutions":[{"id":"https://openalex.org/I55769427","display_name":"Indiana University \u2013 Purdue University Indianapolis","ror":"https://ror.org/05gxnyn08","country_code":"US","type":"education","lineage":["https://openalex.org/I55769427","https://openalex.org/I592451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zheyuan Wang","raw_affiliation_strings":["Indiana University Purdue University Indianapolis, Indianapolis, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indiana University Purdue University Indianapolis, Indianapolis, IN, USA","institution_ids":["https://openalex.org/I55769427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062088491","display_name":"Guo Cheng","orcid":"https://orcid.org/0000-0003-3048-327X"},"institutions":[{"id":"https://openalex.org/I55769427","display_name":"Indiana University \u2013 Purdue University Indianapolis","ror":"https://ror.org/05gxnyn08","country_code":"US","type":"education","lineage":["https://openalex.org/I55769427","https://openalex.org/I592451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guo Cheng","raw_affiliation_strings":["Indiana University Purdue University Indianapolis, Indianapolis, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indiana University Purdue University Indianapolis, Indianapolis, IN, USA","institution_ids":["https://openalex.org/I55769427"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103097268","display_name":"Jiang Yu Zheng","orcid":"https://orcid.org/0000-0001-6328-3982"},"institutions":[{"id":"https://openalex.org/I55769427","display_name":"Indiana University \u2013 Purdue University Indianapolis","ror":"https://ror.org/05gxnyn08","country_code":"US","type":"education","lineage":["https://openalex.org/I55769427","https://openalex.org/I592451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiang Yu Zheng","raw_affiliation_strings":["Indiana University Purdue University Indianapolis, Indianapolis, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indiana University Purdue University Indianapolis, Indianapolis, IN, USA","institution_ids":["https://openalex.org/I55769427"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55769427"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"899","last_page":"906"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":1.0,"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":1.0,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9976999759674072,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7297549247741699},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6756442189216614},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6122005581855774},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5747647285461426},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5161005854606628},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48332858085632324},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4690912961959839},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4476812481880188},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4445480704307556},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.42353928089141846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17151927947998047},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11912292242050171},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0943244993686676}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7297549247741699},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6756442189216614},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6122005581855774},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5747647285461426},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5161005854606628},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48332858085632324},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4690912961959839},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4476812481880188},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4445480704307556},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.42353928089141846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17151927947998047},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11912292242050171},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0943244993686676},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc48978.2021.9565033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9565033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarworks.iupui.edu:1805/32452","is_oa":true,"landing_page_url":"https://hdl.handle.net/1805/32452","pdf_url":"https://scholarworks.indianapolis.iu.edu/bitstreams/390e8384-346d-4929-a6f3-a0e50b67c0b9/download","source":{"id":"https://openalex.org/S4306400987","display_name":"IUScholarWorks (Indiana University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I592451","host_organization_name":"Indiana University","host_organization_lineage":["https://openalex.org/I592451"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Author","raw_type":"Conference proceedings"}],"best_oa_location":{"id":"pmh:oai:scholarworks.iupui.edu:1805/32452","is_oa":true,"landing_page_url":"https://hdl.handle.net/1805/32452","pdf_url":"https://scholarworks.indianapolis.iu.edu/bitstreams/390e8384-346d-4929-a6f3-a0e50b67c0b9/download","source":{"id":"https://openalex.org/S4306400987","display_name":"IUScholarWorks (Indiana University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I592451","host_organization_name":"Indiana University","host_organization_lineage":["https://openalex.org/I592451"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Author","raw_type":"Conference proceedings"},"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3208175178.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1575967007","https://openalex.org/W1588796423","https://openalex.org/W1901129140","https://openalex.org/W2039175100","https://openalex.org/W2118438941","https://openalex.org/W2343568200","https://openalex.org/W2570343428","https://openalex.org/W2610025928","https://openalex.org/W2804244281","https://openalex.org/W2895865366","https://openalex.org/W2896535740","https://openalex.org/W2925325108","https://openalex.org/W2963037989","https://openalex.org/W2970752993","https://openalex.org/W3006961577","https://openalex.org/W3047986474","https://openalex.org/W3117494416","https://openalex.org/W3162212819","https://openalex.org/W6628973269","https://openalex.org/W6635181359","https://openalex.org/W6639824700","https://openalex.org/W6731892127","https://openalex.org/W6787959023","https://openalex.org/W6795252527"],"related_works":["https://openalex.org/W2183638083","https://openalex.org/W2359600231","https://openalex.org/W2119138398","https://openalex.org/W2380019117","https://openalex.org/W2598979711","https://openalex.org/W2093343611","https://openalex.org/W2037384153","https://openalex.org/W2306351532","https://openalex.org/W1987886368","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Current":[0],"sensing":[1],"and":[2,72,122,131],"control":[3],"of":[4,33,79,133],"self-driving":[5],"vehicles":[6,71,142],"based":[7,104,148],"on":[8,105,117,149],"full-view":[9],"recognition":[10],"is":[11,26],"hard":[12],"to":[13,28,67,88,161],"keep":[14],"a":[15,18,40,51,55,77,129,158],"high-frequency":[16],"with":[17,30,140],"fast":[19,159],"moving":[20],"vehicle,":[21],"as":[22,135,137],"increasingly":[23],"complex":[24],"computation":[25],"employed":[27],"cope":[29],"the":[31,48,65,69,89,118,138],"variations":[32],"driving":[34,166],"environment.":[35],"This":[36,145],"work,":[37],"however,":[38],"explores":[39],"light-weight":[41],"sensing-planning":[42,146],"framework":[43],"for":[44,114],"autonomous":[45],"driving.":[46,115],"Taking":[47],"advantage":[49],"that":[50,110],"vehicle":[52,102,123],"moves":[53],"along":[54],"smooth":[56,165],"path,":[57],"we":[58,100],"only":[59],"locate":[60],"several":[61],"sampling":[62],"lines":[63],"in":[64,167],"view":[66],"scan":[68],"road,":[70],"environments":[73],"continuously,":[74],"which":[75,163],"generates":[76],"fraction":[78],"full":[80],"video":[81],"data.":[82],"We":[83],"have":[84],"applied":[85],"semantic":[86],"segmentation":[87],"streaming":[90],"road":[91],"profiles":[92],"without":[93],"redundant":[94],"data":[95,108,155],"computing.":[96],"In":[97],"this":[98,106],"paper,":[99],"plan":[101],"path/motion":[103],"minimum":[107],"set":[109],"contains":[111],"essential":[112],"information":[113],"Based":[116],"lane,":[119],"headway":[120],"length,":[121],"motion":[124],"detected":[125],"from":[126],"road/motion":[127],"profiles,":[128],"path":[130],"speed":[132],"ego-vehicle":[134],"well":[136],"interaction":[139],"surrounding":[141],"are":[143],"computed.":[144],"scheme":[147],"spatially":[150],"sparse":[151],"yet":[152],"temporally":[153],"dense":[154],"can":[156],"ensure":[157],"response":[160],"events,":[162],"yields":[164],"busy":[168],"traffic":[169],"flow.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
