{"id":"https://openalex.org/W4308080017","doi":"https://doi.org/10.1109/itsc55140.2022.9921808","title":"A Model Predictive Trajectory Planning Framework for Autonomous Ground Vehicles on Structured and Unstructured Roads","display_name":"A Model Predictive Trajectory Planning Framework for Autonomous Ground Vehicles on Structured and Unstructured Roads","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080017","doi":"https://doi.org/10.1109/itsc55140.2022.9921808"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921808","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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/A5018292447","display_name":"Zhongjin Xue","orcid":"https://orcid.org/0000-0003-1779-3468"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhongjin Xue","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112411803","display_name":"Zhihua Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihua Zhong","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100441194","display_name":"Liang Li","orcid":"https://orcid.org/0000-0002-1577-408X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Li","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018292447"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.4328,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50308542,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1458","last_page":"1463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9965999722480774,"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":0.9965999722480774,"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":0.9926000237464905,"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":0.9739999771118164,"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/trajectory","display_name":"Trajectory","score":0.8606840372085571},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6933360695838928},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6845534443855286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6676205992698669},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6301074028015137},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5467145442962646},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.528308629989624},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4754573702812195},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.45499664545059204},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4351796507835388},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41461920738220215},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30900639295578003},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21735471487045288},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21700519323349},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21069476008415222}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8606840372085571},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6933360695838928},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6845534443855286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6676205992698669},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6301074028015137},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5467145442962646},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.528308629989624},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4754573702812195},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.45499664545059204},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4351796507835388},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41461920738220215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30900639295578003},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21735471487045288},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21700519323349},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21069476008415222},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921808","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W128654086"],"abstract_inverted_index":{"Trajectory":[0],"planning":[1,38,64,74,168],"is":[2,55,76,95,106,120,140],"one":[3],"of":[4,10,17,189],"the":[5,32,37,59,80,90,102,114,123,128,132,135,145,149,158,176,180,184],"fundamental":[6],"and":[7,27,47,61,92,151,165,172,186],"core":[8],"components":[9],"autonomous":[11],"ground":[12],"vehicles":[13],"(AGVs).":[14],"A":[15],"sequence":[16],"movement":[18],"states":[19],"should":[20],"be":[21],"planned":[22],"satisfying":[23],"both":[24,170],"kinematics":[25,91,150,185],"constraints":[26,94,188],"dynamics":[28,93,152,187],"constraints.":[29,153],"This":[30],"makes":[31],"problem":[33,65],"computationally":[34],"demanding":[35],"as":[36],"space":[39],"dimensionally":[40],"increases.":[41],"Moreover,":[42,175],"there":[43],"are":[44],"massive":[45],"structured":[46,60,171],"unstructured":[48,62,173],"roads":[49],"in":[50],"urban":[51],"scenarios.":[52],"However,":[53],"it":[54],"difficult":[56],"to":[57,78,108,126,142,147],"address":[58,79],"trajectory":[63,73,111,146,167,177],"simultaneously.":[66],"In":[67],"this":[68],"paper,":[69],"a":[70,84,98,118],"model":[71,88,136],"predictive":[72,137],"framework":[75],"proposed":[77,159,181],"above":[81],"challenges.":[82],"Firstly,":[83],"nonlinear":[85],"vehicle":[86],"system":[87],"considering":[89],"established.":[96],"Secondly,":[97],"generator":[99],"based":[100],"on":[101,169],"deep":[103],"neural":[104],"network":[105],"introduced":[107],"output":[109],"intermediate":[110],"points":[112],"towards":[113],"goal":[115],"state.":[116],"Then,":[117],"discriminator":[119],"trained":[121],"utilizing":[122],"expert":[124],"data":[125],"select":[127],"best":[129],"solution":[130],"for":[131],"extension.":[133],"Finally,":[134],"controller":[138],"(MPC)":[139],"leveraged":[141],"further":[143],"optimize":[144],"satisfy":[148],"Simulation":[154],"results":[155],"demonstrate":[156],"that":[157],"algorithm":[160],"can":[161],"implement":[162],"feasible,":[163],"reasonable":[164],"human-like":[166],"roads.":[174],"generated":[178],"by":[179],"planner":[182],"satisfies":[183],"vehicles.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
