{"id":"https://openalex.org/W4391768425","doi":"https://doi.org/10.1109/itsc57777.2023.10422091","title":"Integrated LTV-MPC Collision Avoidance of Autonomous Tractor Semi-trailers in Emergency Scenarios","display_name":"Integrated LTV-MPC Collision Avoidance of Autonomous Tractor Semi-trailers in Emergency Scenarios","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391768425","doi":"https://doi.org/10.1109/itsc57777.2023.10422091"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5023258152","display_name":"Erhang Li","orcid":"https://orcid.org/0000-0001-9055-8187"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Erhang Li","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061103543","display_name":"Huilong Yu","orcid":"https://orcid.org/0000-0003-4287-8332"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["CN","IT"],"is_corresponding":false,"raw_author_name":"Huilong Yu","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102879296","display_name":"Junqiang Xi","orcid":"https://orcid.org/0000-0001-8607-4542"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junqiang Xi","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066842848","display_name":"Matteo Corno","orcid":"https://orcid.org/0000-0003-2644-7487"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Corno","raw_affiliation_strings":["Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milan,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sergio Matteo Savaresi","raw_affiliation_strings":["Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milan,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0481,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78473005,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3268","last_page":"3274"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9253000020980835,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9253000020980835,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/collision-avoidance","display_name":"Collision avoidance","score":0.8356277942657471},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.617465078830719},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.548592746257782},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5158476233482361},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.34414395689964294},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3331800401210785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2694154977798462},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2613182067871094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17915970087051392},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12503331899642944},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.052577078342437744}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8356277942657471},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.617465078830719},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.548592746257782},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5158476233482361},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.34414395689964294},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3331800401210785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2694154977798462},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2613182067871094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17915970087051392},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12503331899642944},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.052577078342437744}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1287565","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1287565","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1988540873","https://openalex.org/W2026618966","https://openalex.org/W2051463607","https://openalex.org/W2072908839","https://openalex.org/W2341848647","https://openalex.org/W2616799858","https://openalex.org/W2765348817","https://openalex.org/W2765867381","https://openalex.org/W2889621847","https://openalex.org/W2899474210","https://openalex.org/W2905334455","https://openalex.org/W2986974634","https://openalex.org/W2990934260","https://openalex.org/W3005533176","https://openalex.org/W3210233094","https://openalex.org/W3215266641","https://openalex.org/W4293052862","https://openalex.org/W4311215087","https://openalex.org/W6787539697"],"related_works":["https://openalex.org/W2146713717","https://openalex.org/W4300792815","https://openalex.org/W2094863673","https://openalex.org/W2604764672","https://openalex.org/W2029971948","https://openalex.org/W2127687077","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"autonomous":[3,90],"tractor":[4,28,45,91],"semi-trailers":[5],"have":[6],"been":[7],"considered":[8],"a":[9,63,71,143],"promising":[10],"solution":[11],"for":[12,89],"improving":[13],"safety":[14],"and":[15,34,86,108,119],"efficiency":[16],"in":[17,41,123,156],"transportation.":[18],"However,":[19],"due":[20],"to":[21,48,51,55,62],"the":[22,27,44,95,98,102,115,127,135,150,159,162],"complicated":[23],"dynamics":[24,117],"characteristics":[25],"of":[26,66,161],"semi-trailer,":[29],"collision":[30,79,130],"avoidance":[31,80,131],"trajectory":[32,84],"planning":[33,85],"tracking":[35,87],"control":[36,76,88,110],"are":[37],"still":[38],"challenges.":[39],"Especially":[40],"emergency":[42],"scenarios,":[43],"semi-trailer":[46],"needs":[47],"maneuver":[49],"close":[50],"its":[52],"handling":[53],"limits":[54],"avoid":[56],"sudden":[57],"obstacles,":[58],"which":[59,112,148],"may":[60],"lead":[61],"high":[64],"risk":[65],"instability.":[67],"This":[68],"paper":[69],"develops":[70],"linear":[72],"time-varying":[73],"model":[74],"predictive":[75],"(LTV-MPC)":[77],"based":[78],"framework":[81],"that":[82,134],"integrates":[83],"semi-trailers.":[92],"Compared":[93],"with":[94],"current":[96],"research,":[97],"proposed":[99,136,163],"controller,":[100],"incorporating":[101],"detailed":[103],"vehicle":[104,116],"dynamics,":[105],"coordinates":[106],"lateral":[107],"longitudinal":[109],"simultaneously,":[111],"can":[113,139],"extend":[114],"boundary":[118],"enhance":[120],"controller":[121],"performance":[122],"critical":[124],"conditions.":[125],"Moreover,":[126],"developed":[128],"convex":[129],"constraints":[132],"guarantee":[133],"MPC":[137],"problem":[138],"be":[140],"recast":[141],"as":[142],"quadratic":[144],"programming":[145],"(QP)":[146],"problem,":[147],"reduces":[149],"computational":[151],"complexity.":[152],"The":[153],"simulation":[154],"results":[155],"Simulink-TruckMaker":[157],"demonstrate":[158],"effectiveness":[160],"approach.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
