{"id":"https://openalex.org/W2152422164","doi":"https://doi.org/10.1109/ivs.2014.6856582","title":"A behavioral planning framework for autonomous driving","display_name":"A behavioral planning framework for autonomous driving","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2152422164","doi":"https://doi.org/10.1109/ivs.2014.6856582","mag":"2152422164"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2014.6856582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2014.6856582","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/A_Behavioral_Planning_Framework_for_Autonomous_Driving/6549962","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078408934","display_name":"Junqing Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Junqing Wei","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078998239","display_name":"Jarrod Snider","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jarrod M. Snider","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101573151","display_name":"Tianyu Gu","orcid":"https://orcid.org/0009-0004-7761-0357"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianyu Gu","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015076162","display_name":"John M. Dolan","orcid":"https://orcid.org/0000-0003-2062-100X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John M. Dolan","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, US","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009781148","display_name":"Bakhtiar Litkouhi","orcid":null},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bakhtiar Litkouhi","raw_affiliation_strings":["General Motor R&D, Warren, MI 48090-0955, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"General Motor R&D, Warren, MI 48090-0955, USA","institution_ids":["https://openalex.org/I118136607"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5078408934"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":10.7403,"has_fulltext":false,"cited_by_count":125,"citation_normalized_percentile":{"value":0.98278219,"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":"458","last_page":"464"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","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/T11099","display_name":"Autonomous Vehicle Technology and Safety","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":0.9995999932289124,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9699000120162964,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/motion-planning","display_name":"Motion planning","score":0.6919695138931274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6696682572364807},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6005299687385559},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5624694228172302},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5567665100097656},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5153117179870605},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.5058176517486572},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4741458594799042},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.4694152772426605},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3659546375274658},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3446919918060303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28689903020858765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27671247720718384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22609755396842957},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1619143784046173}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6919695138931274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6696682572364807},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6005299687385559},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5624694228172302},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5567665100097656},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5153117179870605},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.5058176517486572},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4741458594799042},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.4694152772426605},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3659546375274658},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3446919918060303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28689903020858765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27671247720718384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22609755396842957},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1619143784046173},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"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/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/ivs.2014.6856582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2014.6856582","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"},{"id":"pmh:oai:repository.cmu.edu:robotics-2198","is_oa":false,"landing_page_url":"http://repository.cmu.edu/robotics/1193","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6549962","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:figshare.com:article/6549962","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/A_Behavioral_Planning_Framework_for_Autonomous_Driving/6549962","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.1184/r1/6549962.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6549962.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6549962","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/A_Behavioral_Planning_Framework_for_Autonomous_Driving/6549962","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1487273370","https://openalex.org/W1976792226","https://openalex.org/W2000140632","https://openalex.org/W2005354226","https://openalex.org/W2046639219","https://openalex.org/W2054469884","https://openalex.org/W2055207897","https://openalex.org/W2058180615","https://openalex.org/W2101815586","https://openalex.org/W2107656445","https://openalex.org/W2117471449","https://openalex.org/W2118815478","https://openalex.org/W2119208415","https://openalex.org/W2121806728","https://openalex.org/W2153284231","https://openalex.org/W2167224731","https://openalex.org/W2406067508","https://openalex.org/W2509187435","https://openalex.org/W4293682399","https://openalex.org/W4388475847","https://openalex.org/W6651853181","https://openalex.org/W6684338915"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2077561982","https://openalex.org/W2018658498","https://openalex.org/W2145006118"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,41,56,97,113],"novel":[6],"planning":[7,25,43,105],"framework":[8],"that":[9],"can":[10],"greatly":[11],"improve":[12],"the":[13,38,62,66,79,83,102,108],"level":[14],"of":[15,20,53,116],"intelligence":[16],"and":[17,30,47,72,86,96],"driving":[18,109],"quality":[19,110],"autonomous":[21,84,99],"vehicles.":[22],"A":[23],"reference":[24],"layer":[26,44],"first":[27],"generates":[28],"kinematically":[29],"dynamically":[31],"feasible":[32],"paths":[33],"assuming":[34],"no":[35],"obstacles":[36,49],"on":[37,90],"road,":[39],"then":[40],"behavioral":[42,104],"takes":[45],"static":[46],"dynamic":[48],"into":[50],"account.":[51],"Instead":[52],"directly":[54],"commanding":[55],"desired":[57],"trajectory,":[58],"it":[59],"searches":[60],"for":[61,65],"best":[63],"directives":[64],"controller,":[67],"such":[68],"as":[69],"lateral":[70],"bias":[71],"distance":[73],"keeping":[74],"aggressiveness.":[75],"It":[76],"also":[77],"considers":[78],"social":[80],"cooperation":[81],"between":[82],"vehicle":[85,100],"surrounding":[87],"cars.":[88],"Based":[89],"experimental":[91],"results":[92],"from":[93],"both":[94],"simulation":[95],"real":[98],"platform,":[101],"proposed":[103],"architecture":[106],"improves":[107],"considerably,":[111],"with":[112],"90.3%":[114],"reduction":[115],"required":[117],"computation":[118],"time":[119],"in":[120],"representative":[121],"scenarios.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}