{"id":"https://openalex.org/W2971106948","doi":"https://doi.org/10.1109/ivs.2019.8814229","title":"High-Definition Map Combined Local Motion Planning and Obstacle Avoidance for Autonomous Driving","display_name":"High-Definition Map Combined Local Motion Planning and Obstacle Avoidance for Autonomous Driving","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2971106948","doi":"https://doi.org/10.1109/ivs.2019.8814229","mag":"2971106948"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8814229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5004946705","display_name":"Zhiqiang Jian","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiqiang Jian","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048544277","display_name":"Songyi Zhang","orcid":"https://orcid.org/0000-0002-5776-0858"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyi Zhang","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774271","display_name":"Shitao Chen","orcid":"https://orcid.org/0000-0002-9422-3058"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shitao Chen","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101400717","display_name":"Xin Lv","orcid":"https://orcid.org/0000-0002-4843-7987"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Lv","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Information Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi, P.R. China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004946705"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":1.5199,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.8647743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2180","last_page":"2186"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9988999962806702,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8859336972236633},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6701613068580627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.663000226020813},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6556504368782043},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6099564433097839},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6083707213401794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5147569179534912},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4918704032897949},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4425327479839325},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36720579862594604},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3426121473312378},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33623844385147095},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2130500078201294},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09962987899780273},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0991094708442688}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8859336972236633},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6701613068580627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.663000226020813},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6556504368782043},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6099564433097839},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6083707213401794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5147569179534912},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4918704032897949},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4425327479839325},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36720579862594604},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3426121473312378},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33623844385147095},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2130500078201294},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09962987899780273},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0991094708442688},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2019.8814229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1977801775","https://openalex.org/W1989750313","https://openalex.org/W1996183429","https://openalex.org/W2005354226","https://openalex.org/W2076383834","https://openalex.org/W2100548780","https://openalex.org/W2121806728","https://openalex.org/W2133755926","https://openalex.org/W2141664020","https://openalex.org/W2146511219","https://openalex.org/W2153574945","https://openalex.org/W2154844948","https://openalex.org/W2161859997","https://openalex.org/W2306644740","https://openalex.org/W2404189583","https://openalex.org/W2476752140","https://openalex.org/W2511969587","https://openalex.org/W2565419653","https://openalex.org/W2566950583","https://openalex.org/W2783289596","https://openalex.org/W2904649117","https://openalex.org/W4311042860","https://openalex.org/W6651853181"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2140606111"],"abstract_inverted_index":{"Local":[0],"motion":[1,16,44,61],"planning":[2,17,45,74,102],"plays":[3],"an":[4,8,94],"important":[5],"role":[6],"in":[7,119],"autonomous":[9,35,112],"driving":[10,113],"system.":[11],"And":[12],"applying":[13],"mature":[14],"local":[15,43,60],"methods":[18],"to":[19,31,80],"real":[20],"traffic":[21,69],"scenarios":[22,70],"with":[23,48],"regular":[24],"constraints":[25],"is":[26],"one":[27],"of":[28,34,68,86],"the":[29,32,53,59,65,82,87,106,120,127,129,134,138],"keys":[30],"applications":[33],"vehicles.":[36],"In":[37,78,126],"this":[38,101],"paper,":[39],"we":[40,91],"present":[41],"a":[42],"method":[46,108],"combined":[47],"High-Definition":[49],"(HD)":[50],"maps.":[51],"Through":[52],"HD":[54],"map":[55],"defined":[56],"by":[57],"OpenStreetMap,":[58],"planner":[62],"can":[63],"obtain":[64],"prior":[66],"knowledge":[67],"and":[71,75,84,117,136],"achieve":[72],"path":[73,96],"optimization":[76],"accordingly.":[77],"order":[79],"improve":[81],"safety":[83],"comfort":[85],"obstacle":[88],"avoiding":[89],"process,":[90],"also":[92],"propose":[93],"inertia-like":[95],"selection":[97],"algorithm":[98],"based":[99],"on":[100,109],"method.":[103],"We":[104],"evaluated":[105],"proposed":[107],"our":[110],"designed":[111],"experimental":[114],"platform":[115],"`Pioneer'":[116,130],"participated":[118],"2018":[121],"Intelligent":[122],"Vehicles":[123],"Future":[124],"Challenge.":[125],"competition,":[128],"successfully":[131],"completed":[132],"all":[133],"races":[135],"won":[137],"championship":[139],"without":[140],"any":[141],"manual":[142],"intervention.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5}],"updated_date":"2026-02-27T14:28:36.762950","created_date":"2025-10-10T00:00:00"}