{"id":"https://openalex.org/W4400647562","doi":"https://doi.org/10.1109/iv55156.2024.10588721","title":"An aggressive cornering framework for autonomous vehicles combining trajectory planning and drift control","display_name":"An aggressive cornering framework for autonomous vehicles combining trajectory planning and drift control","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400647562","doi":"https://doi.org/10.1109/iv55156.2024.10588721"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5108955350","display_name":"Wangjia Weng","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wangjia Weng","raw_affiliation_strings":["ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000"],"affiliations":[{"raw_affiliation_string":"ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071803923","display_name":"Cheng Hu","orcid":"https://orcid.org/0000-0003-1322-2828"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Hu","raw_affiliation_strings":["ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000"],"affiliations":[{"raw_affiliation_string":"ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111257488","display_name":"Zhouheng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouheng Li","raw_affiliation_strings":["ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000"],"affiliations":[{"raw_affiliation_string":"ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078403818","display_name":"Hongye Su","orcid":"https://orcid.org/0000-0002-7003-1000"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongye Su","raw_affiliation_strings":["ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000"],"affiliations":[{"raw_affiliation_string":"ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054697474","display_name":"Lei Xie","orcid":"https://orcid.org/0000-0002-7669-1886"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Xie","raw_affiliation_strings":["ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000"],"affiliations":[{"raw_affiliation_string":"ZheJiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310000","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5108955350"],"corresponding_institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":2.722,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.9145177,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2749","last_page":"2755"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9968000054359436,"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":0.9940000176429749,"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/trajectory","display_name":"Trajectory","score":0.7664200067520142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5960752367973328},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5778560042381287},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4362873136997223},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3262718617916107},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3191688656806946},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21509140729904175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20609959959983826}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7664200067520142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5960752367973328},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5778560042381287},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4362873136997223},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3262718617916107},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3191688656806946},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21509140729904175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20609959959983826},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.44999998807907104,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W1964565648","https://openalex.org/W1975778803","https://openalex.org/W2003032253","https://openalex.org/W2112930335","https://openalex.org/W2145175815","https://openalex.org/W2147524078","https://openalex.org/W2335306738","https://openalex.org/W2523952150","https://openalex.org/W2811282447","https://openalex.org/W2887321551","https://openalex.org/W2990733219","https://openalex.org/W3048280423","https://openalex.org/W3132760324","https://openalex.org/W3209904857","https://openalex.org/W4255749368","https://openalex.org/W4312382574","https://openalex.org/W4321770415","https://openalex.org/W4383109279"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W2987583674"],"abstract_inverted_index":{"Vehicle":[0],"slipping":[1],"may":[2],"cause":[3],"an":[4,66],"accident":[5],"while":[6,31],"driving.":[7],"However,":[8],"professional":[9],"drivers":[10],"usually":[11],"perform":[12],"high":[13],"side-slip":[14],"angle":[15],"maneuvers,":[16],"such":[17],"as":[18],"drifting":[19,81],"to":[20,39,98,131],"minimize":[21],"lap":[22],"time":[23],"or":[24],"avoid":[25],"obstacles.":[26],"Tracking":[27],"the":[28,40,43,76,80,84,100,108,114,127,133,151,157],"desired":[29],"trajectory":[30,92,105],"maintaining":[32],"drift":[33,101],"is":[34,124,137],"a":[35,52,90,163],"challenging":[36],"task":[37],"due":[38],"complexity":[41],"of":[42,54],"vehicle":[44],"model.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49,149],"first":[50],"solve":[51],"series":[53],"minimum-time":[55],"cornering":[56,68,102,152],"problems":[57],"under":[58],"different":[59],"initial":[60,115],"conditions.":[61],"The":[62,104],"results":[63],"show":[64],"that":[65],"aggressive":[67],"can":[69],"be":[70],"divided":[71],"into":[72],"three":[73,129],"segments,":[74],"including":[75],"entry":[77],"corner":[78],"stage,":[79,82],"and":[83,94,111,143,160],"exiting":[85],"stage.":[86],"We":[87],"then":[88,112],"propose":[89],"complete":[91],"planning":[93],"motion":[95],"control":[96,122,142],"framework":[97,153],"conduct":[99],"maneuver.":[103],"planner":[106],"calculates":[107],"speed":[109],"profile":[110],"updates":[113],"path":[116],"by":[117,154],"optimizing":[118],"curvature.":[119],"A":[120],"switch-mode":[121],"system":[123],"proposed":[125],"for":[126],"above":[128],"stages":[130],"track":[132],"reference":[134],"trajectory,":[135],"which":[136],"based":[138],"on":[139,156,162],"pure":[140],"pursuit":[141],"Model":[144],"Predictive":[145],"Control":[146],"(MPC).":[147],"Finally,":[148],"validate":[150],"simulation":[155],"Simulink-Carsim":[158],"software":[159],"experiments":[161],"1/10":[164],"scale":[165],"RC":[166],"vehicle.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}