{"id":"https://openalex.org/W1566553715","doi":"https://doi.org/10.1109/ivs.2015.7225817","title":"Adaptive dynamic preview control for autonomous vehicle trajectory following with DDP based path planner","display_name":"Adaptive dynamic preview control for autonomous vehicle trajectory following with DDP based path planner","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1566553715","doi":"https://doi.org/10.1109/ivs.2015.7225817","mag":"1566553715"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2015.7225817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2015.7225817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5102991818","display_name":"Ning Wu","orcid":"https://orcid.org/0000-0002-2943-7711"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ning Wu","raw_affiliation_strings":["Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050462276","display_name":"Weiwei Huang","orcid":"https://orcid.org/0000-0003-2762-1299"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Weiwei Huang","raw_affiliation_strings":["Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103124704","display_name":"Song Zhiwei","orcid":"https://orcid.org/0000-0003-4108-7221"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhiwei Song","raw_affiliation_strings":["Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087450445","display_name":"Xiao\u2010Jun Wu","orcid":"https://orcid.org/0000-0002-0310-5778"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaojun Wu","raw_affiliation_strings":["Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363180","display_name":"Qun Zhang","orcid":"https://orcid.org/0000-0002-2773-3437"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Qun Zhang","raw_affiliation_strings":["Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001076218","display_name":"Susu Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Susu Yao","raw_affiliation_strings":["Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]},{"raw_affiliation_string":"Autonomous Vehicle Department, Institute for Infocom-m Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3005327000"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"33","issue":null,"first_page":"1012","last_page":"1017"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9955999851226807,"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/trajectory","display_name":"Trajectory","score":0.6818808913230896},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6673636436462402},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5953999757766724},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5479344129562378},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5176418423652649},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5171120166778564},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5153221487998962},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.494886577129364},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4776809811592102},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.45650726556777954},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43462181091308594},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4174373149871826},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4117332398891449},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24514713883399963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2413908839225769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19889569282531738},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.11683142185211182},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09882903099060059},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0740586519241333}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6818808913230896},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6673636436462402},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5953999757766724},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5479344129562378},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5176418423652649},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5171120166778564},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5153221487998962},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.494886577129364},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4776809811592102},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.45650726556777954},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43462181091308594},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4174373149871826},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4117332398891449},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24514713883399963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2413908839225769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19889569282531738},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.11683142185211182},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09882903099060059},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0740586519241333},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","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},{"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/ivs.2015.7225817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2015.7225817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Intelligent Vehicles Symposium (IV)","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":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1540571436","https://openalex.org/W1544016679","https://openalex.org/W1558979968","https://openalex.org/W1608886197","https://openalex.org/W1763528081","https://openalex.org/W1969752069","https://openalex.org/W2005354226","https://openalex.org/W2025752438","https://openalex.org/W2061272090","https://openalex.org/W2077673559","https://openalex.org/W2093092271","https://openalex.org/W2107338474","https://openalex.org/W2134765105","https://openalex.org/W2136445059","https://openalex.org/W2154844948","https://openalex.org/W2161076907","https://openalex.org/W2182588602","https://openalex.org/W3142014825","https://openalex.org/W6632224018","https://openalex.org/W6642513403","https://openalex.org/W6680167537","https://openalex.org/W6683620479","https://openalex.org/W6686607999"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W1568779110","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W1789343827"],"abstract_inverted_index":{"For":[0],"autonomous":[1,32],"navigation":[2,34,101],"system":[3,102],"of":[4,17,74],"intelligent":[5],"vehicle,":[6],"robust":[7,104],"and":[8,43,59,105],"stable":[9],"control":[10],"with":[11,72],"accurate":[12],"tracking":[13,57,82],"ability":[14],"is":[15,78,103],"one":[16],"the":[18,67,75,89,99],"key":[19],"requirements.":[20],"In":[21],"this":[22],"paper,":[23],"we":[24],"present":[25],"a":[26],"systematic":[27],"controller":[28,38],"design":[29],"approach":[30],"for":[31],"vehicle":[33,41],"system.":[35],"The":[36,80],"proposed":[37,90],"integrates":[39],"dynamic":[40,69,91],"model":[42,47],"online":[44],"updated":[45],"path":[46,63,81],"by":[48,87],"quadratic":[49],"programming":[50,70],"(QP)":[51],"cost":[52],"function,":[53],"which":[54],"considers":[55],"both":[56],"error":[58],"stability.":[60],"A":[61],"novel":[62],"planner":[64],"based":[65],"on":[66],"differential":[68],"(DDP)":[71],"consideration":[73],"kinematic":[76],"feasibility":[77],"used.":[79],"accuracy":[83],"has":[84],"been":[85],"improved":[86],"utilizing":[88],"preview":[92],"controller.":[93],"Promising":[94],"experimental":[95],"results":[96],"showed":[97],"that":[98],"overall":[100],"stable.":[106]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}