{"id":"https://openalex.org/W4285813044","doi":"https://doi.org/10.1109/iv51971.2022.9827011","title":"Sharpness Continuous Path optimization and Sparsification for Automated Vehicles","display_name":"Sharpness Continuous Path optimization and Sparsification for Automated Vehicles","publication_year":2022,"publication_date":"2022-06-05","ids":{"openalex":"https://openalex.org/W4285813044","doi":"https://doi.org/10.1109/iv51971.2022.9827011"},"language":"en","primary_location":{"id":"doi:10.1109/iv51971.2022.9827011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827011","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/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"]},{"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","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, 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"]},{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"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":["Electric / Electronic Systems Automation, MAN Truck &X Bus SE,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Electric / Electronic Systems Automation, MAN Truck &X 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":["Electric / Electronic Systems Automation, MAN Truck &X Bus SE,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Electric / Electronic Systems Automation, MAN Truck &X Bus SE,Munich,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061681603","display_name":"\u00d6mer \u015eahin Ta\u015f","orcid":"https://orcid.org/0000-0002-1249-260X"},"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":false,"raw_author_name":"Omer Sahin Tas","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":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"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"]},{"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":["Mobile Perception System, Forschungszentrum Informatik,Karlsruhe,Germany","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, 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":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Mobile Perception System, Forschungszentrum Informatik, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5070718510"],"corresponding_institution_ids":["https://openalex.org/I102335020","https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04798232,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1473","last_page":"1479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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":0.9975000023841858,"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/T12707","display_name":"Vehicle License Plate Recognition","score":0.9749000072479248,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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":0.9614999890327454,"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/path","display_name":"Path (computing)","score":0.6534988880157471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6422716379165649},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39106956124305725},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1957893967628479},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11820068955421448}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6534988880157471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6422716379165649},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39106956124305725},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1957893967628479},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11820068955421448}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv51971.2022.9827011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv51971.2022.9827011","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"We":[0,91,142],"present":[1,145],"a":[2,11,21,25,56,97,103],"path":[3,26,59,62,101,106,127,165],"optimization":[4,63],"approach":[5],"that":[6,95,161],"ensures":[7],"driveability":[8],"while":[9],"considering":[10,107],"vehicle\u2019s":[12],"lateral":[13,16,168],"dynamics.":[14],"The":[15,35,73,124],"dynamics":[17,85],"are":[18,86],"non-holonomic;":[19],"therefore,":[20],"vehicle":[22],"cannot":[23],"follow":[24],"with":[27,31,45],"abrupt":[28],"changes":[29],"even":[30,87],"infinitely":[32],"fast":[33],"steering.":[34],"curvature":[36,44],"and":[37,112,132,136,144,172],"sharpness,":[38],"i.e.,":[39],"the":[40,48,108,118,122,139,146,151],"rate":[41],"change":[42],"of":[43,121,150,155],"respect":[46],"to":[47,54],"traveled":[49],"distance,":[50],"must":[51],"be":[52],"continuous":[53,100,126,164],"track":[55],"defined":[57],"reference":[58,105],"efficiently.":[60],"Existing":[61],"techniques":[64],"typically":[65],"include":[66],"sharpness":[67,71,74,99,111,125,163],"limitations":[68],"but":[69],"not":[70],"continuity.":[72],"discontinuity":[75],"is":[76],"especially":[77],"problematic":[78],"for":[79,102,148],"heavy-duty":[80],"vehicles":[81],"because":[82],"their":[83],"actuator":[84],"slower":[88],"than":[89],"cars.":[90],"propose":[92],"an":[93],"algorithm":[94],"constructs":[96],"sparsified":[98],"given":[104],"limits":[109],"on":[110],"its":[113],"derivative,":[114],"which":[115],"subsequently":[116],"addresses":[117],"torque":[119],"restrictions":[120],"actuator.":[123],"needs":[128],"less":[129],"steering":[130,140],"effort":[131],"reduces":[133],"mechanical":[134],"stress":[135],"fatigue":[137],"in":[138],"unit.":[141],"compare":[143],"outcomes":[147],"each":[149],"three":[152],"different":[153],"types":[154],"optimized":[156],"paths.":[157],"Simulation":[158],"results":[159],"demonstrate":[160],"computed":[162],"profiles":[166],"reduce":[167],"jerks,":[169],"enhancing":[170],"comfort":[171],"driveability.":[173]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}