{"id":"https://openalex.org/W4400645607","doi":"https://doi.org/10.1109/iv55156.2024.10588809","title":"Planning and tracking for safe autonomous overtaking and abort overtaking through a model predictive controller","display_name":"Planning and tracking for safe autonomous overtaking and abort overtaking through a model predictive controller","publication_year":2024,"publication_date":"2024-06-02","ids":{"openalex":"https://openalex.org/W4400645607","doi":"https://doi.org/10.1109/iv55156.2024.10588809"},"language":"en","primary_location":{"id":"doi:10.1109/iv55156.2024.10588809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588809","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":"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/A5104542140","display_name":"Ishu Jaiswal","orcid":null},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ishu Jaiswal","raw_affiliation_strings":["Indian Institute of Technology Bombay,Systems and Control Engineering Group,Mumbai,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay,Systems and Control Engineering Group,Mumbai,India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104542141","display_name":"Ekansh Saraf","orcid":null},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ekansh Saraf","raw_affiliation_strings":["Indian Institute of Technology Bombay,Systems and Control Engineering Group,Mumbai,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay,Systems and Control Engineering Group,Mumbai,India","institution_ids":["https://openalex.org/I162827531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090008120","display_name":"Arpita Sinha","orcid":"https://orcid.org/0000-0002-9116-3467"},"institutions":[{"id":"https://openalex.org/I162827531","display_name":"Indian Institute of Technology Bombay","ror":"https://ror.org/02qyf5152","country_code":"IN","type":"education","lineage":["https://openalex.org/I162827531"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arpita Sinha","raw_affiliation_strings":["Indian Institute of Technology Bombay,Systems and Control Engineering Group,Mumbai,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Bombay,Systems and Control Engineering Group,Mumbai,India","institution_ids":["https://openalex.org/I162827531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162827531"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2688","last_page":"2693"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.3212999999523163,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.3212999999523163,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.2752000093460083,"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/overtaking","display_name":"Overtaking","score":0.9697468876838684},{"id":"https://openalex.org/keywords/abort","display_name":"Abort","score":0.8487975001335144},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5771439671516418},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5496090054512024},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49552834033966064},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4822876751422882},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46160760521888733},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3449089527130127},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24412184953689575},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2048882246017456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17391562461853027},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11526772379875183},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08452737331390381}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.9697468876838684},{"id":"https://openalex.org/C2777549182","wikidata":"https://www.wikidata.org/wiki/Q15117556","display_name":"Abort","level":2,"score":0.8487975001335144},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5771439671516418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5496090054512024},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49552834033966064},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4822876751422882},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46160760521888733},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3449089527130127},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24412184953689575},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2048882246017456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17391562461853027},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11526772379875183},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08452737331390381},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55156.2024.10588809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55156.2024.10588809","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1511243153","https://openalex.org/W1976467619","https://openalex.org/W2012561930","https://openalex.org/W2090232563","https://openalex.org/W2167535376","https://openalex.org/W2537623947","https://openalex.org/W2767578104","https://openalex.org/W2946231253","https://openalex.org/W2962915496","https://openalex.org/W2970811184","https://openalex.org/W2990762375","https://openalex.org/W3093324907","https://openalex.org/W3097634115","https://openalex.org/W3120734124","https://openalex.org/W3120924448","https://openalex.org/W3144837739","https://openalex.org/W3175049622","https://openalex.org/W3201546377","https://openalex.org/W4313575540","https://openalex.org/W4381250125"],"related_works":["https://openalex.org/W3084163143","https://openalex.org/W3198453306","https://openalex.org/W3081587374","https://openalex.org/W591161629","https://openalex.org/W2294880310","https://openalex.org/W3208192858","https://openalex.org/W2618142536","https://openalex.org/W2102544652","https://openalex.org/W1998625354","https://openalex.org/W3088435778"],"abstract_inverted_index":{"This":[0,34],"paper":[1],"addresses":[2],"trajectory":[3,84],"planning":[4,18,64],"for":[5,83],"overtaking":[6,37],"maneuvers":[7],"in":[8,41,67],"a":[9,51],"dynamic,":[10],"two-way,":[11],"two-lane":[12],"environment.":[13],"The":[14],"proposed":[15,104],"novel":[16],"five-stage":[17],"algorithm":[19,35],"comprises":[20],"initial":[21],"lane":[22,26,31,43],"change,":[23,27],"acceleration,":[24],"final":[25,30],"abort,":[28],"and":[29,62],"change":[32],"abort.":[33],"allows":[36],"to":[38,46,71,86],"be":[39],"aborted":[40],"oncoming":[42],"danger,":[44],"reverting":[45],"the":[47,73,91,100,103],"original":[48],"lane.":[49],"Employing":[50],"point":[52],"mass":[53],"model-based":[54],"model":[55,80],"predictive":[56],"control":[57],"(MPC)":[58],"framework,":[59],"separate":[60],"longitudinal":[61],"lateral":[63],"is":[65,81],"conducted":[66],"each":[68],"phase,":[69],"combined":[70],"generate":[72],"overall":[74],"trajectory.":[75],"A":[76],"practical":[77],"nonlinear":[78],"bicycle":[79],"employed":[82],"tracking":[85,92],"address":[87],"kinematic":[88],"infeasibility.":[89],"Furthermore,":[90],"controller":[93],"utilizes":[94],"adaptive":[95],"MPC.":[96],"Numerical":[97],"simulations":[98],"validate":[99],"performance":[101],"of":[102],"algorithm.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}