{"id":"https://openalex.org/W2896193002","doi":"https://doi.org/10.1109/ivs.2018.8500498","title":"Trajectory Planning with Shadow Trolleys for an Autonomous Vehicle on Bending Roads and Switchbacks","display_name":"Trajectory Planning with Shadow Trolleys for an Autonomous Vehicle on Bending Roads and Switchbacks","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2896193002","doi":"https://doi.org/10.1109/ivs.2018.8500498","mag":"2896193002"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2018.8500498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500498","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/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":true,"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":"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":2,"corresponding_author_ids":["https://openalex.org/A5100363394"],"corresponding_institution_ids":["https://openalex.org/I1292974536"],"apc_list":null,"apc_paid":null,"fwci":0.4178,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.6749096,"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":"484","last_page":"489"},"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":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.700958788394928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6297136545181274},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5603981018066406},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.49718406796455383},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4860389828681946},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35538458824157715},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3321060538291931},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3252530097961426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3220999836921692},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3178882598876953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25670531392097473},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20405876636505127},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1253979504108429}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.700958788394928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6297136545181274},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5603981018066406},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.49718406796455383},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4860389828681946},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35538458824157715},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3321060538291931},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3252530097961426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3220999836921692},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3178882598876953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25670531392097473},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20405876636505127},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1253979504108429},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2018.8500498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500498","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":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W10031084","https://openalex.org/W1562666459","https://openalex.org/W1993450261","https://openalex.org/W2012561930","https://openalex.org/W2013439434","https://openalex.org/W2032325911","https://openalex.org/W2042706753","https://openalex.org/W2044526330","https://openalex.org/W2093699968","https://openalex.org/W2100548780","https://openalex.org/W2104227003","https://openalex.org/W2113642685","https://openalex.org/W2116165149","https://openalex.org/W2142264896","https://openalex.org/W2148361676","https://openalex.org/W2158285627","https://openalex.org/W2160897436","https://openalex.org/W2536620281","https://openalex.org/W2735823576","https://openalex.org/W2740607401","https://openalex.org/W2741222326","https://openalex.org/W4285719527","https://openalex.org/W6600413971"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W55883722"],"abstract_inverted_index":{"In":[0,17],"automated":[1],"driving,":[2],"the":[3,46,56,66,73,78,87,106,109,124,136,147,167,221,226],"road":[4,90,110,160,210],"geometry":[5,211],"information":[6,44],"such":[7,54],"as":[8],"waypoints":[9,43],"is":[10,52,61,111,150,170],"usually":[11],"available":[12],"from":[13,89],"previously":[14],"stored":[15],"maps.":[16],"this":[18],"paper,":[19],"we":[20],"present":[21,201],"a":[22,98,115,130,154,180],"scenario":[23],"based":[24],"Model":[25],"Predictive":[26],"Control":[27],"(MPC)":[28],"trajectory":[29,49],"planning":[30,36,50,60],"algorithm":[31,51],"that":[32,41,55,64,194],"consists":[33],"of":[34,45,77,97,138,166,204,216,225],"spatial":[35,57],"with":[37,144,212],"embedded":[38],"temporal":[39,59,164],"optimization":[40,165,190],"leverages":[42],"road.":[47],"Our":[48],"structured":[53],"and":[58,68,75,92,128,142,161,183,223,234],"integrated":[62],"so":[63],"both":[65],"longitudinal":[67],"lateral":[69],"aspects,":[70],"reflected":[71],"in":[72,174],"shape":[74],"length":[76],"planned":[79],"trajectory,":[80],"are":[81],"dynamically":[82],"changing":[83],"to":[84,101,122,146,178,219],"best":[85],"negotiate":[86],"constraints":[88],"curvature":[91,159],"surrounding":[93,214],"vehicles.":[94],"The":[95],"concept":[96,134],"vehicle":[99,139,155],"connected":[100],"shadow":[102],"trolleys":[103,127],"traveling":[104,156],"along":[105],"rails":[107],"on":[108,157,208],"introduced.":[112],"Given":[113],"waypoints,":[114],"reference":[116],"cubic":[117],"spline":[118],"can":[119],"be":[120],"constructed":[121],"define":[123],"rail":[125],"for":[126,153],"form":[129],"curvilinear":[131],"coordinate.":[132],"This":[133],"facilitates":[135],"description":[137],"motion,":[140],"trajectories,":[141],"surroundings":[143],"respect":[145],"trolley,":[148],"which":[149,173],"especially":[151],"convenient":[152],"high":[158],"switchbacks.":[162],"A":[163],"trolley":[168],"instances":[169],"first":[171],"conducted,":[172],"turn":[175],"allows":[176],"us":[177],"make":[179],"proper":[181],"approximation":[182],"reduce":[184],"an":[185],"originally":[186],"complex":[187,209],"nonlinear":[188],"spatial-temporal":[189],"problem":[191],"into":[192],"one":[193],"requires":[195],"only":[196],"Quadratic":[197],"Programming":[198],"(QP).":[199],"We":[200],"simulation":[202],"results":[203,230],"various":[205],"challenging":[206],"scenarios":[207],"multiple":[213],"vehicles":[215],"varying":[217],"behavior":[218],"demonstrate":[220],"effectiveness":[222],"efficiency":[224],"proposed":[227],"algorithm.":[228],"Simulation":[229],"show":[231],"reasonable,":[232],"flexible,":[233],"safe":[235],"maneuvers.":[236]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
