{"id":"https://openalex.org/W4308080977","doi":"https://doi.org/10.1109/itsc55140.2022.9922212","title":"Curvature Continuous Path Planning with Reverse Searching for Efficient and Precise Autonomous Parking","display_name":"Curvature Continuous Path Planning with Reverse Searching for Efficient and Precise Autonomous Parking","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080977","doi":"https://doi.org/10.1109/itsc55140.2022.9922212"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9922212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922212","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":null,"display_name":"Jinlong Pang","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinlong Pang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048544277","display_name":"Songyi Zhang","orcid":"https://orcid.org/0000-0002-5776-0858"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyi Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102917671","display_name":"Jiawei Fu","orcid":"https://orcid.org/0000-0001-9928-9470"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Fu","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106667398","display_name":"Jianyi Liu","orcid":"https://orcid.org/0000-0003-0321-4955"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianyi Liu","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi&#x0027;an Jiaotong University,Xi&#x0027;an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.177,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.51100071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2798","last_page":"2805"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9968000054359436,"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":0.9950000047683716,"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/pruning","display_name":"Pruning","score":0.7980167865753174},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.757392942905426},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.7429307699203491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7329888343811035},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.637509822845459},{"id":"https://openalex.org/keywords/parking-lot","display_name":"Parking lot","score":0.575677216053009},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5563607215881348},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5547062754631042},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.44441547989845276},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42341962456703186},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4177810549736023},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40948206186294556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29058319330215454},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1457834243774414},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13510245084762573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1111910343170166},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1055288016796112}],"concepts":[{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.7980167865753174},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.757392942905426},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.7429307699203491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7329888343811035},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.637509822845459},{"id":"https://openalex.org/C2777427512","wikidata":"https://www.wikidata.org/wiki/Q6501349","display_name":"Parking lot","level":2,"score":0.575677216053009},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5563607215881348},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5547062754631042},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.44441547989845276},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42341962456703186},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4177810549736023},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40948206186294556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29058319330215454},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1457834243774414},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13510245084762573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1111910343170166},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1055288016796112},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9922212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922212","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G6668475023","display_name":null,"funder_award_id":"61773312,61790563","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1570402058","https://openalex.org/W1763528081","https://openalex.org/W1777783943","https://openalex.org/W1969483458","https://openalex.org/W1996183429","https://openalex.org/W2078798748","https://openalex.org/W2141664020","https://openalex.org/W2161076907","https://openalex.org/W2163385431","https://openalex.org/W2203313098","https://openalex.org/W2296385533","https://openalex.org/W2345973286","https://openalex.org/W2739637850","https://openalex.org/W2788326114","https://openalex.org/W2791468499","https://openalex.org/W2895830705","https://openalex.org/W2897306720","https://openalex.org/W2912985673","https://openalex.org/W2947742306","https://openalex.org/W2990103389","https://openalex.org/W3051745844","https://openalex.org/W3103759471","https://openalex.org/W3213712307","https://openalex.org/W4236251699","https://openalex.org/W6683620479","https://openalex.org/W6687918259","https://openalex.org/W6785756575","https://openalex.org/W6804147451"],"related_works":["https://openalex.org/W4364305153","https://openalex.org/W2112323931","https://openalex.org/W1990866438","https://openalex.org/W2122063210","https://openalex.org/W2330483448","https://openalex.org/W3146338492","https://openalex.org/W2071219275","https://openalex.org/W2134899107","https://openalex.org/W2061238207","https://openalex.org/W4308080977"],"abstract_inverted_index":{"In":[0,37],"autonomous":[1],"driving,":[2],"vehicles":[3],"usually":[4],"need":[5],"to":[6,32,97,109,161],"complete":[7,103],"parking":[8,12,49,62,74,95,169],"tasks.":[9],"The":[10,155],"existing":[11,163],"planning":[13,75,127],"algorithms":[14,40],"based":[15,80],"on":[16,81],"hybrid":[17,82],"A*":[18],"can":[19,124],"ensure":[20,130],"the":[21,24,33,45,48,53,59,66,88,94,104,107,111,115,126,131,134,139,142,162,168],"smoothness":[22,140],"of":[23,35,47,56,90,106,114,133,141],"planned":[25],"path,":[26],"but":[27],"it":[28],"is":[29],"inefficient":[30],"due":[31],"consumption":[34],"time.":[36],"addition,":[38],"these":[39],"do":[41],"not":[42],"fully":[43],"consider":[44],"particularity":[46],"scene,":[50],"that":[51,159],"is,":[52],"unbalanced":[54],"distribution":[55],"obstacles":[57,92],"around":[58,93],"lane":[60],"and":[61,102,129,152,171],"slot.":[63],"To":[64],"solve":[65],"above":[67],"problems,":[68],"we":[69],"propose":[70],"a":[71],"curvature":[72],"continuous":[73],"method":[76],"with":[77],"reverse":[78],"searching":[79],"A*,":[83],"called":[84],"RS-HA*,":[85],"which":[86],"detects":[87],"collision":[89],"dense":[91],"slot":[96],"prevent":[98],"useless":[99],"expansion":[100],"nodes":[101],"pruning":[105],"algorithm":[108],"improve":[110,125],"real-time":[112],"performance":[113,148],"algorithm.":[116],"We":[117,144],"call":[118],"this":[119],"processing":[120],"OCP":[121],"(Obstacle-Collision-Pruning).":[122],"RS-HA*":[123,165],"efficiency":[128,170],"precision":[132],"goal":[135],"pose":[136],"without":[137],"reducing":[138],"path.":[143],"verified":[145],"RS-":[146],"HA*":[147],"through":[149],"simulation":[150],"environment":[151],"real":[153],"scene.":[154],"experimental":[156],"results":[157],"show":[158],"compared":[160],"methods,":[164],"greatly":[166],"improves":[167],"accuracy.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
