{"id":"https://openalex.org/W2141257449","doi":"https://doi.org/10.1109/ivs.2014.6856575","title":"Automatic collision avoidance during parking and maneuvering — An optimal control approach","display_name":"Automatic collision avoidance during parking and maneuvering — An optimal control approach","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2141257449","doi":"https://doi.org/10.1109/ivs.2014.6856575","mag":"2141257449"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2014.6856575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2014.6856575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","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/A5067532483","display_name":"Benjamin Gutjahr","orcid":null},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Benjamin Gutjahr","raw_affiliation_strings":["BMW Group Research and Technology, Hanauer Strasse 46, 80992 Munich, Germany",", BMW Group Research and Technology, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW Group Research and Technology, Hanauer Strasse 46, 80992 Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":", BMW Group Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027250190","display_name":"Moritz Werling","orcid":null},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Werling","raw_affiliation_strings":["BMW Group Research and Technology, Hanauer Strasse 46, 80992 Munich, Germany",", BMW Group Research and Technology, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW Group Research and Technology, Hanauer Strasse 46, 80992 Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":", BMW Group Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5067532483"],"corresponding_institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"],"apc_list":null,"apc_paid":null,"fwci":2.222,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.89445964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"636","last_page":"641"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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":0.9998000264167786,"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/jerk","display_name":"Jerk","score":0.8572854995727539},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8476486802101135},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6760403513908386},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.6060363054275513},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5917444229125977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5673259496688843},{"id":"https://openalex.org/keywords/threshold-braking","display_name":"Threshold braking","score":0.5558435320854187},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5251027345657349},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4897799491882324},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36974281072616577},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36145392060279846},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33773598074913025},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3322441875934601},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.3030126988887787},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.24836573004722595},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16174182295799255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1271597146987915},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09907087683677673}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.8572854995727539},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8476486802101135},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6760403513908386},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.6060363054275513},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5917444229125977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5673259496688843},{"id":"https://openalex.org/C77338312","wikidata":"https://www.wikidata.org/wiki/Q3087415","display_name":"Threshold braking","level":3,"score":0.5558435320854187},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5251027345657349},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4897799491882324},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36974281072616577},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36145392060279846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33773598074913025},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3322441875934601},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.3030126988887787},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.24836573004722595},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16174182295799255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1271597146987915},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09907087683677673},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2014.6856575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2014.6856575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1846575468","https://openalex.org/W1873353883","https://openalex.org/W1983948265","https://openalex.org/W1985574396","https://openalex.org/W1999250663","https://openalex.org/W2024249108","https://openalex.org/W2041515593","https://openalex.org/W2070291139","https://openalex.org/W2070574914","https://openalex.org/W2107338474","https://openalex.org/W2112930335","https://openalex.org/W2120267624","https://openalex.org/W2137921433","https://openalex.org/W2142127805","https://openalex.org/W2143331353","https://openalex.org/W2158778987","https://openalex.org/W2161859997","https://openalex.org/W2164262183","https://openalex.org/W2336416123","https://openalex.org/W2581659368","https://openalex.org/W2798534591","https://openalex.org/W4238554946","https://openalex.org/W6639278788","https://openalex.org/W6677914907"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W4322628047","https://openalex.org/W2102947728"],"abstract_inverted_index":{"In":[0,59],"order":[1],"to":[2,51,61],"reduce":[3],"the":[4,65,68,87,92,104],"great":[5],"number":[6],"of":[7,67],"parking":[8],"incidences":[9],"and":[10,53,91],"other":[11],"collisions":[12],"in":[13,125],"low":[14],"speed":[15],"scenarios,":[16],"an":[17,45,82],"obstacle":[18],"avoidance":[19,25],"algorithm":[20,73],"is":[21,38,48,123],"proposed.":[22],"Since":[23],"collision":[24,97],"can":[26],"be":[27],"achieved":[28],"by":[29],"sole":[30],"braking":[31,42],"when":[32],"driving":[33,94],"slowly":[34],"this":[35,72],"algorithm's":[36,121],"objective":[37],"a":[39,76,126],"comfort":[40],"orientated":[41],"routine.":[43],"Therefore,":[44],"optimization":[46],"problem":[47],"formulated":[49],"leading":[50],"jerk":[52],"time":[54,79],"optimal":[55],"trajectories":[56],"for":[57,75,85,103,111],"braking.":[58],"addition":[60],"that,":[62],"based":[63],"on":[64],"prediction":[66],"future":[69],"vehicle":[70,89,105,113],"motion,":[71],"compensates":[74],"significant":[77],"actuator":[78],"delay.":[80],"Using":[81],"occupancy":[83],"grid":[84],"representing":[86],"static":[88],"environment":[90],"current":[93],"state,":[95],"possible":[96],"points":[98],"are":[99,118],"determined":[100],"not":[101],"only":[102],"front":[106],"or":[107],"rear,":[108],"but":[109],"also":[110],"both":[112],"sides,":[114],"where":[115],"no":[116],"sensors":[117],"located.":[119],"The":[120],"performance":[122],"demonstrated":[124],"real-world":[127],"scenario.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}