{"id":"https://openalex.org/W4308079960","doi":"https://doi.org/10.1109/itsc55140.2022.9922466","title":"Integrated Path Tracking for Autonomous Vehicle Collision Avoidance Based on Model Predictive Control With Multi-constraints","display_name":"Integrated Path Tracking for Autonomous Vehicle Collision Avoidance Based on Model Predictive Control With Multi-constraints","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308079960","doi":"https://doi.org/10.1109/itsc55140.2022.9922466"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9922466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922466","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/A5100379486","display_name":"Lu Xiong","orcid":"https://orcid.org/0000-0002-1673-2658"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lu Xiong","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347831","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0003-2801-8918"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063700251","display_name":"Xing Yang","orcid":"https://orcid.org/0000-0002-9238-9847"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Yang","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073740136","display_name":"Bo Leng","orcid":"https://orcid.org/0000-0003-3513-1708"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Leng","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100379486"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":2.1416,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.90820944,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"554","last_page":"561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9907000064849854,"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"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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-avoidance","display_name":"Obstacle avoidance","score":0.8743871450424194},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7439196109771729},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7213900685310364},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6890355348587036},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.655286431312561},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5517685413360596},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5444584488868713},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.45063748955726624},{"id":"https://openalex.org/keywords/active-safety","display_name":"Active safety","score":0.44279342889785767},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4301581084728241},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4104548692703247},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38905248045921326},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36535853147506714},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3591575622558594},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2391306459903717},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17277511954307556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11876904964447021},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.11417093873023987},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07343032956123352}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8743871450424194},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7439196109771729},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7213900685310364},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6890355348587036},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.655286431312561},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5517685413360596},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5444584488868713},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.45063748955726624},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.44279342889785767},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4301581084728241},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4104548692703247},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38905248045921326},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36535853147506714},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3591575622558594},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2391306459903717},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17277511954307556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11876904964447021},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.11417093873023987},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07343032956123352},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9922466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922466","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":[{"id":"https://openalex.org/G3034458321","display_name":null,"funder_award_id":"52002284","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"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W168785721","https://openalex.org/W600038510","https://openalex.org/W1591578285","https://openalex.org/W2341848647","https://openalex.org/W2529203031","https://openalex.org/W2735167925","https://openalex.org/W2736282375","https://openalex.org/W2792491297","https://openalex.org/W2973185169","https://openalex.org/W2990494268","https://openalex.org/W3126582367","https://openalex.org/W3133836538","https://openalex.org/W3183206046","https://openalex.org/W3206774503","https://openalex.org/W6618190066"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W2102947728"],"abstract_inverted_index":{"An":[0],"integrated":[1,30,57,101],"multi-constraint":[2],"nonlinear":[3],"model":[4],"predictive":[5],"control":[6,31,102],"method":[7,103],"is":[8,33],"proposed":[9,100],"to":[10,51,79],"solve":[11],"the":[12,29,36,44,48,56,62,66,71,85,99,111],"problem":[13],"of":[14,28,47,91],"active":[15],"obstacle":[16,41,53,63,72,106],"avoidance":[17,54,73,107],"under":[18,43],"high":[19],"speed":[20],"emergency":[21],"conditions.":[22],"The":[23,89],"intervention":[24],"and":[25,40,83,93,110,119],"exit":[26],"mechanism":[27],"algorithm":[32],"set":[34],"through":[35],"minimum":[37],"braking":[38],"distance":[39],"information":[42,64],"current":[45],"state":[46],"vehicle.":[49],"According":[50],"different":[52],"scenarios,":[55],"path":[58,112],"tracking":[59,113,117],"controller":[60,114],"integrates":[61],"into":[65],"objective":[67],"function":[68],"by":[69],"setting":[70],"risk":[74],"index":[75],"function,":[76],"so":[77],"as":[78],"realize":[80,105],"multi-objective":[81],"optimization":[82],"calculate":[84],"front":[86],"steering":[87],"angle.":[88],"results":[90],"simulation":[92],"vehicle":[94],"ground":[95],"test":[96],"show":[97],"that":[98],"can":[104],"more":[108],"effectively,":[109],"provides":[115],"dynamic":[116],"performance":[118],"maneuverability.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
