{"id":"https://openalex.org/W2741222326","doi":"https://doi.org/10.1109/ivs.2017.7995716","title":"Path planning for autonomous vehicles using model predictive control","display_name":"Path planning for autonomous vehicles using model predictive control","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2741222326","doi":"https://doi.org/10.1109/ivs.2017.7995716","mag":"2741222326"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2017.7995716","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995716","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5100353166","display_name":"Chang Liu","orcid":"https://orcid.org/0000-0001-7686-2510"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chang Liu","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363394","display_name":"Seungho Lee","orcid":"https://orcid.org/0009-0006-0151-8292"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seungho Lee","raw_affiliation_strings":["Ford Research Laboratories, Dearborn, MI, USA"],"affiliations":[{"raw_affiliation_string":"Ford Research Laboratories, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022512129","display_name":"Scott Varnhagen","orcid":null},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Varnhagen","raw_affiliation_strings":["Ford Research Laboratories, Dearborn, MI, USA"],"affiliations":[{"raw_affiliation_string":"Ford Research Laboratories, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034788095","display_name":"H. Eric Tseng","orcid":"https://orcid.org/0000-0001-9544-4226"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Eric Tseng","raw_affiliation_strings":["Ford Research Laboratories, Dearborn, MI, USA"],"affiliations":[{"raw_affiliation_string":"Ford Research Laboratories, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100353166"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":4.0697,"has_fulltext":false,"cited_by_count":238,"citation_normalized_percentile":{"value":0.96453536,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"174","last_page":"179"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9983999729156494,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9975000023841858,"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/intersection","display_name":"Intersection (aeronautics)","score":0.7523316740989685},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.709006130695343},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6954771876335144},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6758116483688354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6489907503128052},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5754438042640686},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5713261365890503},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.45997002720832825},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4590616822242737},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40310049057006836},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3562294840812683},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34197062253952026},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3346315026283264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24099433422088623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21977970004081726},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1989753544330597},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.09393560886383057},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.07952165603637695},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07301044464111328}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7523316740989685},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.709006130695343},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6954771876335144},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6758116483688354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6489907503128052},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5754438042640686},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5713261365890503},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.45997002720832825},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4590616822242737},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40310049057006836},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3562294840812683},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34197062253952026},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3346315026283264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24099433422088623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21977970004081726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1989753544330597},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.09393560886383057},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.07952165603637695},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07301044464111328},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2017.7995716","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995716","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1511243153","https://openalex.org/W1562666459","https://openalex.org/W1777783943","https://openalex.org/W1976467619","https://openalex.org/W1979317847","https://openalex.org/W1993450261","https://openalex.org/W2002087336","https://openalex.org/W2012561930","https://openalex.org/W2045304032","https://openalex.org/W2050723888","https://openalex.org/W2091307069","https://openalex.org/W2100548780","https://openalex.org/W2103880099","https://openalex.org/W2111901564","https://openalex.org/W2113642685","https://openalex.org/W2116165149","https://openalex.org/W2121806728","https://openalex.org/W2123871098","https://openalex.org/W2148361676","https://openalex.org/W2165216595","https://openalex.org/W2212765426","https://openalex.org/W2343568200","https://openalex.org/W2406067508","https://openalex.org/W2536620281","https://openalex.org/W2734907804","https://openalex.org/W3083764925","https://openalex.org/W4229727857","https://openalex.org/W4292230442","https://openalex.org/W6687993641"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W128654086","https://openalex.org/W2120267624"],"abstract_inverted_index":{"Path":[0],"planning":[1,71],"for":[2],"autonomous":[3,164],"vehicles":[4,29,91],"in":[5,100,126,139,153],"dynamic":[6],"environments":[7],"is":[8],"an":[9],"important":[10],"but":[11],"challenging":[12],"problem,":[13],"due":[14],"to":[15,56,102],"the":[16,50,58,81,104,108,127,131,136,144,147,150,160,163],"constraints":[17,99],"of":[18,23,28,33,62,83,98,130,149,162],"vehicle":[19,110],"dynamics":[20],"and":[21,42,94,111,117,143],"existence":[22],"surrounding":[24,90,112],"vehicles.":[25,113],"Typical":[26],"trajectories":[27],"involve":[30],"different":[31,140],"modes":[32],"maneuvers,":[34,119],"including":[35],"lane":[36,38],"keeping,":[37],"change,":[39],"ramp":[40],"merging,":[41],"intersection":[43],"crossing.":[44],"There":[45],"exist":[46],"prior":[47],"arts":[48],"using":[49,63,73],"rule-based":[51],"high-level":[52],"decision":[53],"making":[54],"approaches":[55],"decide":[57],"mode":[59,82],"switching.":[60],"Instead":[61],"explicit":[64],"rules,":[65],"we":[66,88,120],"propose":[67],"a":[68,96,122],"unified":[69],"path":[70],"approach":[72,152],"Model":[74],"Predictive":[75],"Control":[76],"(MPC),":[77],"which":[78],"automatically":[79,154],"decides":[80],"maneuvers.":[84],"To":[85,114],"ensure":[86],"safety,":[87],"model":[89],"as":[92],"polygons":[93],"develop":[95],"type":[97],"MPC":[101],"enforce":[103],"collision":[105],"avoidance":[106],"between":[107],"ego":[109],"achieve":[115],"comfortable":[116],"natural":[118],"include":[121],"lane-associated":[123],"potential":[124],"field":[125],"objective":[128],"function":[129],"MPC.":[132],"We":[133],"have":[134],"simulated":[135],"proposed":[137,151],"method":[138],"test":[141],"scenarios":[142],"results":[145],"demonstrate":[146],"effectiveness":[148],"generating":[155],"reasonable":[156],"maneuvers":[157],"while":[158],"guaranteeing":[159],"safety":[161],"vehicle.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":36},{"year":2024,"cited_by_count":52},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":41},{"year":2021,"cited_by_count":32},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":5}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
