{"id":"https://openalex.org/W4391769088","doi":"https://doi.org/10.1109/itsc57777.2023.10422263","title":"A Multi-Stage Trajectory Planning System for Autonomous Vehicle in Mixture Scenarios","display_name":"A Multi-Stage Trajectory Planning System for Autonomous Vehicle in Mixture Scenarios","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391769088","doi":"https://doi.org/10.1109/itsc57777.2023.10422263"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422263","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422263","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":"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/A5102616670","display_name":"Entao Chang","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":true,"raw_author_name":"Entao Chang","raw_affiliation_strings":["National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'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":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":"Jiawei Fu","raw_affiliation_strings":["National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111128676","display_name":"Ziqi Zong","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":"Ziqi Zong","raw_affiliation_strings":["National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774271","display_name":"Shitao Chen","orcid":"https://orcid.org/0000-0002-9422-3058"},"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":"Shitao Chen","raw_affiliation_strings":["National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031227866","display_name":"Jingmin Xin","orcid":"https://orcid.org/0000-0003-1906-2327"},"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":"Jingmin Xin","raw_affiliation_strings":["National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'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":["National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049"],"affiliations":[{"raw_affiliation_string":"National Engineering Research Center for Visual Information and Applications, and Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University,National Key Laboratory of Human-Machine Hybrid Augmented Intelligence,Xi'an,Shaanxi,P.R. China,710049","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102616670"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.1228,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46419341,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4459","last_page":"4466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994000196456909,"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":0.9621000289916992,"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/trajectory","display_name":"Trajectory","score":0.7864769697189331},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7326342463493347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7063288688659668},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5637302398681641},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5016138553619385},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46929651498794556},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.44423699378967285},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4271206557750702},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3767462968826294},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.36278778314590454},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3596516251564026},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.26919931173324585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20142605900764465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19905853271484375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18579190969467163}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7864769697189331},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7326342463493347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7063288688659668},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5637302398681641},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5016138553619385},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46929651498794556},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.44423699378967285},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4271206557750702},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3767462968826294},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.36278778314590454},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3596516251564026},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.26919931173324585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20142605900764465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19905853271484375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18579190969467163},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422263","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422263","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1656056944","display_name":null,"funder_award_id":"2022YFB2502900","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3833898155","display_name":null,"funder_award_id":"62088102","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W1983948265","https://openalex.org/W2137813581","https://openalex.org/W2144293566","https://openalex.org/W2192586580","https://openalex.org/W2209116470","https://openalex.org/W2419216244","https://openalex.org/W2548511631","https://openalex.org/W2769646558","https://openalex.org/W2793753444","https://openalex.org/W2884634491","https://openalex.org/W2963105220","https://openalex.org/W2963214840","https://openalex.org/W2963215357","https://openalex.org/W2971031619","https://openalex.org/W3002033136","https://openalex.org/W3101798601","https://openalex.org/W3105834261","https://openalex.org/W3113314866","https://openalex.org/W3116367434","https://openalex.org/W3129124093","https://openalex.org/W4281561287","https://openalex.org/W4285047697","https://openalex.org/W4365807717"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"In":[0],"the":[1,17,22,29,56,71,83,100,104,112],"field":[2],"of":[3,19,24,31,52,114],"autonomous":[4],"driving,":[5],"trajectory":[6,45],"planning":[7,46,58,73],"has":[8],"achieved":[9],"substantial":[10],"advancements,":[11],"ensuring":[12],"safety":[13,88],"and":[14,68,79,82,89,125,143],"efficiency":[15],"in":[16,107,146],"majority":[18],"scenarios.":[20,109],"Nevertheless,":[21],"intricacies":[23],"mixture":[25,108,147],"scenarios,":[26],"marked":[27],"by":[28],"interplay":[30],"diverse":[32],"requirements,":[33],"present":[34],"enduring":[35],"challenges.":[36],"To":[37,110],"tackle":[38],"these":[39],"intricacies,":[40],"we":[41,118],"introduce":[42],"a":[43,61,120,126],"multi-stage":[44],"system.":[47],"The":[48,133],"system":[49,101],"is":[50,93],"comprised":[51],"three":[53],"targeted":[54],"stages:":[55],"path":[57],"stage":[59,74,85,92],"leveraging":[60],"Gaussian":[62],"process":[63],"to":[64,75,86,95,102],"accommodate":[65],"static":[66],"obstacles":[67,78],"curvature":[69],"limitations,":[70],"speed":[72],"address":[76],"dynamic":[77],"inherent":[80],"uncertainties,":[81],"decision-making":[84],"balance":[87],"efficiency.":[90],"Each":[91],"designed":[94],"manage":[96],"specific":[97],"demands,":[98],"enabling":[99],"handle":[103],"multifaceted":[105],"challenges":[106],"corroborate":[111],"efficacy":[113],"our":[115,137],"proposed":[116],"system,":[117],"conducted":[119],"validation":[121],"against":[122],"established":[123],"algorithms":[124],"simulation":[127],"under":[128],"high-speed,":[129],"long-distance":[130],"road":[131],"conditions.":[132],"encouraging":[134],"outcomes":[135],"underline":[136],"system's":[138],"potential":[139],"for":[140],"providing":[141],"robust":[142],"adaptive":[144],"navigation":[145],"environments.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}