{"id":"https://openalex.org/W3209763024","doi":"https://doi.org/10.1109/iv48863.2021.9575619","title":"GPU based model-predictive path control for self-driving vehicles","display_name":"GPU based model-predictive path control for self-driving vehicles","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W3209763024","doi":"https://doi.org/10.1109/iv48863.2021.9575619","mag":"3209763024"},"language":"en","primary_location":{"id":"doi:10.1109/iv48863.2021.9575619","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575619","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","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/A5022574195","display_name":"Eduard Chajan","orcid":null},"institutions":[{"id":"https://openalex.org/I99977706","display_name":"FH Aachen","ror":"https://ror.org/04tqgg260","country_code":"DE","type":"education","lineage":["https://openalex.org/I99977706"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eduard Chajan","raw_affiliation_strings":["Mobile Autonomous Systems & Cognitive Robotics Institute, FH Aachen University of Applied Sciences, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Autonomous Systems & Cognitive Robotics Institute, FH Aachen University of Applied Sciences, Aachen, Germany","institution_ids":["https://openalex.org/I99977706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030653667","display_name":"Joschua Schulte-Tigges","orcid":"https://orcid.org/0000-0002-7386-1341"},"institutions":[{"id":"https://openalex.org/I99977706","display_name":"FH Aachen","ror":"https://ror.org/04tqgg260","country_code":"DE","type":"education","lineage":["https://openalex.org/I99977706"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joschua Schulte-Tigges","raw_affiliation_strings":["Mobile Autonomous Systems & Cognitive Robotics Institute, FH Aachen University of Applied Sciences, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Autonomous Systems & Cognitive Robotics Institute, FH Aachen University of Applied Sciences, Aachen, Germany","institution_ids":["https://openalex.org/I99977706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036819498","display_name":"Michael Reke","orcid":"https://orcid.org/0000-0002-4209-8574"},"institutions":[{"id":"https://openalex.org/I99977706","display_name":"FH Aachen","ror":"https://ror.org/04tqgg260","country_code":"DE","type":"education","lineage":["https://openalex.org/I99977706"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Reke","raw_affiliation_strings":["Mobile Autonomous Systems & Cognitive Robotics Institute, FH Aachen University of Applied Sciences, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Autonomous Systems & Cognitive Robotics Institute, FH Aachen University of Applied Sciences, Aachen, Germany","institution_ids":["https://openalex.org/I99977706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085820430","display_name":"Alexander Ferrein","orcid":"https://orcid.org/0000-0002-0643-5422"},"institutions":[{"id":"https://openalex.org/I99977706","display_name":"FH Aachen","ror":"https://ror.org/04tqgg260","country_code":"DE","type":"education","lineage":["https://openalex.org/I99977706"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Ferrein","raw_affiliation_strings":["Mobile Autonomous Systems & Cognitive Robotics Institute, FH Aachen University of Applied Sciences, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Autonomous Systems & Cognitive Robotics Institute, FH Aachen University of Applied Sciences, Aachen, Germany","institution_ids":["https://openalex.org/I99977706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008500294","display_name":"Dominik Matheis","orcid":"https://orcid.org/0000-0002-0954-7059"},"institutions":[{"id":"https://openalex.org/I4210109996","display_name":"Hyundai Motors (Germany)","ror":"https://ror.org/01s2j5a22","country_code":"DE","type":"company","lineage":["https://openalex.org/I197312522","https://openalex.org/I4210109996","https://openalex.org/I49946491"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Matheis","raw_affiliation_strings":["Electronics System Development, Advanced Safety Control, Hyundai Motor Europe Technical Center GmbH, Ruesselsheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics System Development, Advanced Safety Control, Hyundai Motor Europe Technical Center GmbH, Ruesselsheim, Germany","institution_ids":["https://openalex.org/I4210109996"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052053433","display_name":"Thomas Walter","orcid":"https://orcid.org/0000-0002-3960-8895"},"institutions":[{"id":"https://openalex.org/I4210109996","display_name":"Hyundai Motors (Germany)","ror":"https://ror.org/01s2j5a22","country_code":"DE","type":"company","lineage":["https://openalex.org/I197312522","https://openalex.org/I4210109996","https://openalex.org/I49946491"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Walter","raw_affiliation_strings":["Electronics System Development, Advanced Safety Control, Hyundai Motor Europe Technical Center GmbH, Ruesselsheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electronics System Development, Advanced Safety Control, Hyundai Motor Europe Technical Center GmbH, Ruesselsheim, Germany","institution_ids":["https://openalex.org/I4210109996"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1243","last_page":"1248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9975000023841858,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7611227035522461},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7517809271812439},{"id":"https://openalex.org/keywords/granularity","display_name":"Granularity","score":0.6907679438591003},{"id":"https://openalex.org/keywords/graphics-processing-unit","display_name":"Graphics processing unit","score":0.6036427617073059},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5826174020767212},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5757636427879333},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.492211252450943},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4667385518550873},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4461353123188019},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.4337593913078308},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4245380163192749},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32913538813591003},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3246012032032013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24850016832351685},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.16500598192214966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10248640179634094}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7611227035522461},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7517809271812439},{"id":"https://openalex.org/C177774035","wikidata":"https://www.wikidata.org/wiki/Q1246948","display_name":"Granularity","level":2,"score":0.6907679438591003},{"id":"https://openalex.org/C2779851693","wikidata":"https://www.wikidata.org/wiki/Q183484","display_name":"Graphics processing unit","level":2,"score":0.6036427617073059},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5826174020767212},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5757636427879333},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.492211252450943},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4667385518550873},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4461353123188019},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.4337593913078308},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4245380163192749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32913538813591003},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3246012032032013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24850016832351685},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.16500598192214966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10248640179634094},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv48863.2021.9575619","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575619","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W609155490","https://openalex.org/W1968651586","https://openalex.org/W2112930335","https://openalex.org/W2120179083","https://openalex.org/W2410617946","https://openalex.org/W2530771494","https://openalex.org/W2551773494","https://openalex.org/W2584986912","https://openalex.org/W2616635592","https://openalex.org/W2885608376","https://openalex.org/W2970619639","https://openalex.org/W3011613664","https://openalex.org/W4256673806","https://openalex.org/W6678081342","https://openalex.org/W6754103205"],"related_works":["https://openalex.org/W2931688134","https://openalex.org/W2377919138","https://openalex.org/W2378857091","https://openalex.org/W2999756192","https://openalex.org/W103652678","https://openalex.org/W4226090359","https://openalex.org/W2059697060","https://openalex.org/W936373746","https://openalex.org/W2975817033","https://openalex.org/W2220968517"],"abstract_inverted_index":{"One":[0],"central":[1],"challenge":[2,18],"for":[3,36,58],"self-driving":[4],"cars":[5],"is":[6,19,32,74,152],"a":[7,11,33,46,59,114,176,188],"proper":[8],"path-planning.":[9],"Once":[10],"trajectory":[12],"has":[13],"been":[14],"found,":[15],"the":[16,25,37,52,56,71,86,89,96,104,127,140,160],"next":[17,161],"to":[20,50,66,79,103,159],"accurately":[21],"and":[22,169,180,184],"safely":[23],"follow":[24],"precalculated":[26],"path.":[27],"The":[28,43,146,163],"model-predictive":[29],"controller":[30],"(MPC)":[31],"common":[34],"approach":[35,116,122],"lateral":[38],"control":[39,90],"of":[40,55,133,149,190],"autonomous":[41],"vehicles.":[42],"MPC":[44],"uses":[45],"vehicle":[47,57],"dynamics":[48],"model":[49],"predict":[51],"future":[53],"states":[54],"given":[60],"prediction":[61,81],"horizon.":[62],"However,":[63],"in":[64,109,167],"order":[65],"achieve":[67,136],"real-time":[68],"path":[69],"control,":[70],"computational":[72,87],"load":[73],"usually":[75],"large,":[76],"which":[77],"leads":[78],"short":[80],"horizons.":[82],"To":[83,135],"deal":[84],"with":[85,130,187],"load,":[88],"algorithm":[91,142,179],"can":[92],"be":[93],"parallelized":[94],"on":[95,118,124],"graphics":[97],"processing":[98],"unit":[99],"(GPU).":[100],"In":[101],"contrast":[102],"widely":[105],"used":[106,154],"stochastic":[107],"methods,":[108],"this":[110],"paper":[111],"we":[112,138],"propose":[113],"deterministic":[115],"based":[117],"grid":[119],"search.":[120],"Our":[121],"focuses":[123],"systematically":[125],"discovering":[126],"search":[128],"area":[129],"different":[131],"levels":[132],"granularity.":[134],"this,":[137],"split":[139],"optimization":[141],"into":[143],"multiple":[144],"iterations.":[145],"best":[147],"sequence":[148],"each":[150],"iteration":[151],"then":[153],"as":[155],"an":[156],"initial":[157],"solution":[158],"iteration.":[162],"granularity":[164],"increases,":[165],"resulting":[166],"smooth":[168],"predictable":[170],"steering":[171],"angle":[172],"sequences.":[173],"We":[174],"present":[175],"novel":[177],"GPU-based":[178],"show":[181],"its":[182],"accuracy":[183],"realtime":[185],"abilities":[186],"number":[189],"real-world":[191],"experiments.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
