{"id":"https://openalex.org/W4391768722","doi":"https://doi.org/10.1109/itsc57777.2023.10422293","title":"A Defensive Motion Framework for Autonomous Platoon to Handle Cut-in Maneuvers","display_name":"A Defensive Motion Framework for Autonomous Platoon to Handle Cut-in Maneuvers","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391768722","doi":"https://doi.org/10.1109/itsc57777.2023.10422293"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422293","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/A5101863677","display_name":"Lei Song","orcid":"https://orcid.org/0000-0002-5624-2207"},"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":"Lei Song","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China,10081"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China,10081","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114860547","display_name":"Xiaohan Ma","orcid":"https://orcid.org/0000-0003-0185-801X"},"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":"Xiaohan Ma","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,10081"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology,Beijing,China,10081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023201930","display_name":"Ehsan Hashemi","orcid":"https://orcid.org/0000-0002-6236-7516"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ehsan Hashemi","raw_affiliation_strings":["University of Alberta,Department of Mechanical Engineering,Edmonton,AB,Canada,T6G 1H9"],"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Mechanical Engineering,Edmonton,AB,Canada,T6G 1H9","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079684072","display_name":"Hong Wang","orcid":"https://orcid.org/0000-0002-5127-2941"},"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":"Hong Wang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China,10081"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China,10081","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101863677"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.3946,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57819849,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2590","last_page":"2597"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9865999817848206,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9865999817848206,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9749000072479248,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9133999943733215,"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/platoon","display_name":"Platoon","score":0.9694805145263672},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5816477537155151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5289143323898315},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.34189507365226746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2958323359489441},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2860065996646881},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0635945200920105}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.9694805145263672},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5816477537155151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5289143323898315},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.34189507365226746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2958323359489441},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2860065996646881},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0635945200920105}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422293","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":[],"awards":[{"id":"https://openalex.org/G4589837958","display_name":null,"funder_award_id":"52072215,U1964203","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":29,"referenced_works":["https://openalex.org/W1554313475","https://openalex.org/W2106993639","https://openalex.org/W2576277975","https://openalex.org/W2896642734","https://openalex.org/W2909419488","https://openalex.org/W2963787065","https://openalex.org/W2963906196","https://openalex.org/W2997385668","https://openalex.org/W2997958396","https://openalex.org/W3054438628","https://openalex.org/W3065468121","https://openalex.org/W3083309169","https://openalex.org/W3086854072","https://openalex.org/W3107034996","https://openalex.org/W3113894000","https://openalex.org/W3116826672","https://openalex.org/W3171419621","https://openalex.org/W3208489473","https://openalex.org/W4225882772","https://openalex.org/W4229039568","https://openalex.org/W4285272860","https://openalex.org/W4286359849","https://openalex.org/W4313316269","https://openalex.org/W4317620402","https://openalex.org/W4318982572","https://openalex.org/W4319866469","https://openalex.org/W4327661580","https://openalex.org/W4382796797","https://openalex.org/W4384080220"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W4286572054","https://openalex.org/W3171462553","https://openalex.org/W2555207388","https://openalex.org/W2983996496","https://openalex.org/W3189590538","https://openalex.org/W4389240635","https://openalex.org/W2461853023","https://openalex.org/W2136133395","https://openalex.org/W2935722734"],"abstract_inverted_index":{"Autonomous":[0],"platooning":[1],"has":[2],"emerged":[3],"as":[4],"a":[5,33,52,76,85,105,132,140,203],"prominent":[6],"trend":[7],"in":[8,13,127,148],"intelligent":[9],"transportation":[10],"systems.":[11],"However,":[12],"hybrid":[14],"traffic":[15],"situations":[16],"where":[17,104],"autonomous":[18,43,57],"vehicles":[19,24],"(AVs)":[20],"coexist":[21],"with":[22,69,75,139],"human-driven":[23],"(HDVs),":[25],"the":[26,37,70,81,94,99,117,128,145,149,168,185,188,199],"aggressive":[27],"cut-in":[28,53,86,95,106,118,134,165,193],"behavior":[29],"of":[30,42,60,84,187,198],"HDVs":[31],"poses":[32],"significant":[34],"threat":[35],"to":[36,115,124,160,202],"safety,":[38,166],"stability,":[39],"and":[40],"integrity":[41],"platoons.":[44],"To":[45],"address":[46],"this":[47,49],"challenge,":[48],"paper":[50],"proposes":[51],"defensive":[54],"framework":[55,190],"for":[56,98,109,179],"platoons,":[58],"consisting":[59],"two":[61],"main":[62],"components.":[63],"Firstly,":[64],"an":[65,172],"LSTM":[66],"network":[67],"combined":[68],"stochastic":[71],"forward":[72],"reachable":[73],"set":[74],"certain":[77],"acceptance":[78],"level":[79],"predicts":[80],"occupancy":[82],"area":[83],"vehicle":[87,126,147,180],"when":[88],"its":[89],"intention":[90],"is":[91,102,113],"detected.":[92],"Secondly,":[93],"defense":[96,136],"scheme":[97],"platoon":[100,110,200],"system":[101],"developed,":[103],"risk":[107,135],"index":[108],"gaps":[111],"(CRIG)":[112],"introduced":[114],"determine":[116],"point,":[119],"allocating":[120],"distinct":[121],"driving":[122],"modes":[123],"each":[125],"platoon.":[129,150],"After":[130],"that,":[131],"high-level":[133,152],"planner,":[137],"integrated":[138],"low-level":[141,169],"motion":[142],"controller,":[143],"governs":[144],"single":[146],"The":[151],"controller":[153,170],"employs":[154],"interactive":[155],"Model":[156],"Predictive":[157],"Control":[158],"(MPC)":[159],"suppress":[161],"oscillation":[162],"while":[163,167],"ensuring":[164],"utilizes":[171],"artificial":[173],"potential":[174],"field":[175],"(APF)-based":[176],"MPC":[177],"approach":[178],"control.":[181],"Simulation":[182],"experiments":[183],"evaluate":[184],"effectiveness":[186],"proposed":[189],"by":[191],"introducing":[192],"behaviors":[194],"from":[195],"different":[196],"parts":[197],"compared":[201],"baseline":[204],"method.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}