{"id":"https://openalex.org/W2897427413","doi":"https://doi.org/10.1109/ivs.2018.8500384","title":"Cooperative Lane Change Motion Planning of Connected and Automated Vehicles: A Stepwise Computational Framework","display_name":"Cooperative Lane Change Motion Planning of Connected and Automated Vehicles: A Stepwise Computational Framework","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2897427413","doi":"https://doi.org/10.1109/ivs.2018.8500384","mag":"2897427413"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2018.8500384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5100608938","display_name":"Bai Li","orcid":"https://orcid.org/0000-0002-8966-8992"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bai Li","raw_affiliation_strings":["Xi'an University of Technology, Xi'an, Shaanxi, CN"],"affiliations":[{"raw_affiliation_string":"Xi'an University of Technology, Xi'an, Shaanxi, CN","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113241795","display_name":"Yue Zhang","orcid":"https://orcid.org/0000-0002-0162-6158"},"institutions":[{"id":"https://openalex.org/I4210148195","display_name":"Concordia University","ror":"https://ror.org/04dwckp88","country_code":"US","type":"education","lineage":["https://openalex.org/I4210148195"]},{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]},{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Yue Zhang","raw_affiliation_strings":["Boston University, Boston, MA, US","Concordia University, Montreal, QC, CA"],"affiliations":[{"raw_affiliation_string":"Boston University, Boston, MA, US","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Concordia University, Montreal, QC, CA","institution_ids":["https://openalex.org/I60158472","https://openalex.org/I4210148195"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I4210148195","display_name":"Concordia University","ror":"https://ror.org/04dwckp88","country_code":"US","type":"education","lineage":["https://openalex.org/I4210148195"]},{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]},{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Boston University, Boston, MA, US","Concordia University, Montreal, QC, CA"],"affiliations":[{"raw_affiliation_string":"Boston University, Boston, MA, US","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Concordia University, Montreal, QC, CA","institution_ids":["https://openalex.org/I60158472","https://openalex.org/I4210148195"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101709265","display_name":"Ning Jia","orcid":"https://orcid.org/0000-0003-0669-179X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Jia","raw_affiliation_strings":["Tianjin University, Tianjin, Tianjin, CN"],"affiliations":[{"raw_affiliation_string":"Tianjin University, Tianjin, Tianjin, CN","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100608938"],"corresponding_institution_ids":["https://openalex.org/I4210131919"],"apc_list":null,"apc_paid":null,"fwci":0.3134,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.62707747,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"334","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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":0.9980000257492065,"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/T10524","display_name":"Traffic control and management","score":0.9968000054359436,"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":0.9945999979972839,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8232808113098145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6700761318206787},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6528007984161377},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6493062973022461},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.644173264503479},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5831184983253479},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5705087184906006},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5603179931640625},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5409908890724182},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4856368601322174},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4670635163784027},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4365643262863159},{"id":"https://openalex.org/keywords/collision-problem","display_name":"Collision problem","score":0.4268289804458618},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3183220624923706},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24340438842773438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21099117398262024},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2062612771987915},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14091548323631287}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8232808113098145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6700761318206787},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6528007984161377},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6493062973022461},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.644173264503479},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5831184983253479},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5705087184906006},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5603179931640625},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5409908890724182},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4856368601322174},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4670635163784027},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4365643262863159},{"id":"https://openalex.org/C2780034591","wikidata":"https://www.wikidata.org/wiki/Q5147504","display_name":"Collision problem","level":3,"score":0.4268289804458618},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3183220624923706},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24340438842773438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21099117398262024},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2062612771987915},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14091548323631287},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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":1,"locations":[{"id":"doi:10.1109/ivs.2018.8500384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6100000143051147,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1990871591","https://openalex.org/W2027311349","https://openalex.org/W2084011031","https://openalex.org/W2123871098","https://openalex.org/W2192586580","https://openalex.org/W2288381328","https://openalex.org/W2300303305","https://openalex.org/W2345973286","https://openalex.org/W2409024337","https://openalex.org/W2496313774","https://openalex.org/W2606324808","https://openalex.org/W2783690174","https://openalex.org/W2786741601","https://openalex.org/W2807126442","https://openalex.org/W2913521839","https://openalex.org/W4235623249","https://openalex.org/W6758566672"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W4381746183","https://openalex.org/W2122376181","https://openalex.org/W2532473367","https://openalex.org/W2143600218","https://openalex.org/W1528435928","https://openalex.org/W2132916950"],"abstract_inverted_index":{"This":[0,129],"paper":[1],"focuses":[2],"on":[3],"the":[4,22,49,53,61,83,97,104,110,121,126,134,137,145,148,163,169],"scheme":[5,40],"of":[6,12,51,65,82,90,114,136],"cooperative":[7],"lane":[8,25],"change":[9,26],"motion":[10],"planning":[11],"multiple":[13,155],"connected":[14],"and":[15,157],"automated":[16],"vehicles,":[17],"so":[18],"as":[19,120],"to":[20,33,59,161],"minimize":[21],"time":[23],"for":[24],"while":[27],"penalizing":[28],"large":[29],"steering":[30],"angles":[31],"subject":[32],"hard":[34],"collision":[35,84,99],"avoidance":[36,85,100],"constraints.":[37],"Nominally":[38],"this":[39,66,143],"should":[41],"be":[42],"formulated":[43],"in":[44,109,147],"a":[45,72,78,88],"centralized":[46,67,150],"way":[47],"with":[48,77,80],"constraints":[50,86,101],"all":[52,81],"vehicles":[54],"considered":[55],"simultaneously.":[56],"In":[57,142],"order":[58],"facilitate":[60],"numerical":[62],"solving":[63,125],"process":[64,131],"optimization":[68],"problem,":[69],"we":[70],"propose":[71],"stepwise":[73],"computation":[74],"framework.":[75],"Starting":[76],"sub-problem":[79,116],"removed,":[87],"sequence":[89],"sub-problems":[91],"are":[92,152],"defined":[93],"by":[94,168],"adding":[95],"back":[96],"removed":[98],"gradually":[102],"until":[103,133],"original":[105,138,149],"problem":[106,139,151],"takes":[107],"shape":[108],"end.":[111],"The":[112],"optimum":[113,135],"one":[115],"is":[117,140,166],"always":[118],"used":[119],"initial":[122,170],"guess":[123],"when":[124],"next":[127],"sub-problem.":[128],"iterative":[130],"continues":[132],"obtained.":[141],"way,":[144],"difficulties":[146,165],"divided":[153],"into":[154],"parts,":[156],"every":[158],"progress":[159],"made":[160],"address":[162],"partial":[164],"\u201csolidified\u201d":[167],"guess.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}