{"id":"https://openalex.org/W3118542893","doi":"https://doi.org/10.1109/iv47402.2020.9304582","title":"An Optimal Lateral Trajectory Stabilization of Vehicle using Differential Dynamic Programming","display_name":"An Optimal Lateral Trajectory Stabilization of Vehicle using Differential Dynamic Programming","publication_year":2020,"publication_date":"2020-10-19","ids":{"openalex":"https://openalex.org/W3118542893","doi":"https://doi.org/10.1109/iv47402.2020.9304582","mag":"3118542893"},"language":"en","primary_location":{"id":"doi:10.1109/iv47402.2020.9304582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","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/A5070718510","display_name":"Mohit Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mohit Kumar","raw_affiliation_strings":["Mobile Perception System Forschungszentrum Informatik, Karlsruhe, Germany","Mobile Perception System Forschungszentrum Informatik,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Mobile Perception System Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Mobile Perception System Forschungszentrum Informatik,Karlsruhe,Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027173511","display_name":"Arne-Christoph Hildebrandt","orcid":"https://orcid.org/0000-0002-9127-8344"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Arne-Christoph Hildebrandt","raw_affiliation_strings":["Engineering Central Research, MAN Truck & Bus SE., Munich, Germany","Engineering Central Research, MAN Truck & Bus SE.,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Engineering Central Research, MAN Truck & Bus SE., Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Engineering Central Research, MAN Truck & Bus SE.,Munich,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077667297","display_name":"Peter Strau\u00df","orcid":"https://orcid.org/0000-0002-8693-9304"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peter Strauss","raw_affiliation_strings":["Engineering Central Research, MAN Truck & Bus SE., Munich, Germany","Engineering Central Research, MAN Truck & Bus SE.,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Engineering Central Research, MAN Truck & Bus SE., Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Engineering Central Research, MAN Truck & Bus SE.,Munich,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034433588","display_name":"Sven Kraus","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sven Kraus","raw_affiliation_strings":["Engineering Central Research, MAN Truck & Bus SE., Munich, Germany","Engineering Central Research, MAN Truck & Bus SE.,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Engineering Central Research, MAN Truck & Bus SE., Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Engineering Central Research, MAN Truck & Bus SE.,Munich,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany#TAB#","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006218856","display_name":"Andreas Zimmermann","orcid":"https://orcid.org/0000-0003-2249-944X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andreas Zimmermann","raw_affiliation_strings":["Engineering Central Research, MAN Truck & Bus SE., Munich, Germany","Engineering Central Research, MAN Truck & Bus SE.,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Engineering Central Research, MAN Truck & Bus SE., Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Engineering Central Research, MAN Truck & Bus SE.,Munich,Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5070718510"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":0.1007,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.48465043,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"623","last_page":"630"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991999864578247,"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":0.9991999864578247,"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/T10524","display_name":"Traffic control and management","score":0.9972000122070312,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7795195579528809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7024321556091309},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6872516870498657},{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.5834207534790039},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.578353762626648},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5602719187736511},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5305077433586121},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5166366696357727},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.5064157247543335},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.48991531133651733},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4682009816169739},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4627196192741394},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4436352550983429},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42736777663230896},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.4231165051460266},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39067697525024414},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3307234048843384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1899195909500122},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1286119818687439},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1216273307800293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11952173709869385}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7795195579528809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7024321556091309},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6872516870498657},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.5834207534790039},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.578353762626648},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5602719187736511},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5305077433586121},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5166366696357727},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.5064157247543335},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.48991531133651733},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4682009816169739},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4627196192741394},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4436352550983429},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42736777663230896},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.4231165051460266},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39067697525024414},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3307234048843384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1899195909500122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1286119818687439},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1216273307800293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11952173709869385},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv47402.2020.9304582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W100724795","https://openalex.org/W1558979968","https://openalex.org/W1964946446","https://openalex.org/W1968651586","https://openalex.org/W1970411044","https://openalex.org/W1996997871","https://openalex.org/W2005780170","https://openalex.org/W2071609865","https://openalex.org/W2073637376","https://openalex.org/W2087617385","https://openalex.org/W2093699968","https://openalex.org/W2109061107","https://openalex.org/W2109944946","https://openalex.org/W2120179083","https://openalex.org/W2158370675","https://openalex.org/W2167856595","https://openalex.org/W2538895738","https://openalex.org/W2750864650","https://openalex.org/W4243130718","https://openalex.org/W6604050056","https://openalex.org/W6678081342"],"related_works":["https://openalex.org/W1932159282","https://openalex.org/W4285537323","https://openalex.org/W2379312070","https://openalex.org/W2136173754","https://openalex.org/W2110050003","https://openalex.org/W2953025626","https://openalex.org/W2999105396","https://openalex.org/W2499081552","https://openalex.org/W2366053282","https://openalex.org/W2128788708"],"abstract_inverted_index":{"Vehicles":[0],"nowadays":[1],"are":[2,79,208],"equipped":[3],"with":[4],"several":[5],"assistance":[6],"functions":[7],"for":[8,26,39,64,82,118],"e.g.":[9],"Cruise":[10],"Control":[11],"and":[12,98,114,151,187,204],"Lane":[13],"Keeping":[14],"Assist.":[15],"Classical":[16],"lateral":[17,83,119],"control":[18,50,129,135],"approaches":[19,41,63,78,89],"such":[20],"as":[21],"pure":[22,138],"pursuit,":[23],"Stanley":[24],"used":[25,81,165],"lane":[27],"keeping":[28],"assist":[29],"provide":[30],"good":[31],"path":[32],"tracking":[33],"precision.":[34],"However":[35],"the":[36,54,65,96,128,149,168,185,190,205],"operational":[37,55,93],"domain":[38],"these":[40,74],"is":[42,164,175,195],"limited":[43],"i.e.":[44,137],"highway":[45],"driving.":[46],"An":[47],"adaptation":[48],"of":[49,68],"parameters":[51],"can":[52],"increase":[53],"domain,":[56,94],"but":[57,95],"its":[58],"difficult":[59],"to":[60,126,166,183,188],"tune":[61],"classical":[62,75,112,134],"whole":[66],"range":[67],"automated":[69,201],"driving":[70],"maneuvers.":[71],"Apart":[72],"from":[73],"approaches,":[76],"optimization":[77,87,116,157,169,191],"also":[80],"trajectory":[84,120,174],"stabilization.":[85,121],"The":[86,145,171,193],"based":[88,140,158],"have":[90],"a":[91,111,124,133,142,179,198],"wider":[92],"feasibility":[97],"real":[99],"time":[100],"execution":[101],"remain":[102],"some":[103],"open":[104],"issues.":[105],"In":[106],"this":[107],"paper,":[108],"we":[109],"combine":[110],"approach":[113,136,194],"an":[115],"method":[117,125,182],"We":[122],"present":[123],"optimize":[127],"input":[130],"calculated":[131,172],"using":[132,178],"pursuit":[139],"on":[141,159,197],"performance":[143,146],"criteria.":[144],"criteria":[147],"weighs":[148],"precision":[150],"comfort":[152],"requirements.":[153],"A":[154],"non-":[155],"linear":[156],"Differential":[160],"Dynamic":[161],"Programming":[162],"(DDP)":[163],"solve":[167],"problem.":[170],"optimal":[173],"finally":[176],"evaluated":[177],"line":[180],"search":[181],"ensure":[184],"convergence":[186],"verify":[189],"policy.":[192],"demonstrated":[196],"full":[199],"scale":[200],"truck":[202],"prototype":[203],"experimental":[206],"results":[207],"discussed.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}