{"id":"https://openalex.org/W4205331580","doi":"https://doi.org/10.1109/ivworkshops54471.2021.9669253","title":"OpenPlanner 2.0: The Portable Open Source Planner for Autonomous Driving Applications","display_name":"OpenPlanner 2.0: The Portable Open Source Planner for Autonomous Driving Applications","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W4205331580","doi":"https://doi.org/10.1109/ivworkshops54471.2021.9669253"},"language":"en","primary_location":{"id":"doi:10.1109/ivworkshops54471.2021.9669253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivworkshops54471.2021.9669253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)","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/A5036004096","display_name":"Hatem Darweesh","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hatem Darweesh","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113688124","display_name":"Eijiro Takeuchi","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eijiro Takeuchi","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan","Tier IV, Inc., Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Tier IV, Inc., Nagoya, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042118446","display_name":"Kazuya Takeda","orcid":"https://orcid.org/0000-0002-0330-1787"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Takeda","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Nagoya, Japan","Tier IV, Inc., Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Tier IV, Inc., Nagoya, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036004096"],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":1.1914,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.78432449,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"313","last_page":"318"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9864000082015991,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7568103075027466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.713161289691925},{"id":"https://openalex.org/keywords/open-source","display_name":"Open source","score":0.6858514547348022},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6624734401702881},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6004430055618286},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5554078817367554},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4523221254348755},{"id":"https://openalex.org/keywords/source-code","display_name":"Source code","score":0.44435590505599976},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.400334894657135},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.331382155418396},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3267514705657959},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31474804878234863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21739250421524048},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1964748501777649},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.1631811559200287},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.09373754262924194}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7568103075027466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.713161289691925},{"id":"https://openalex.org/C3018397939","wikidata":"https://www.wikidata.org/wiki/Q3644502","display_name":"Open source","level":3,"score":0.6858514547348022},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6624734401702881},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6004430055618286},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5554078817367554},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4523221254348755},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.44435590505599976},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.400334894657135},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.331382155418396},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3267514705657959},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31474804878234863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21739250421524048},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1964748501777649},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.1631811559200287},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.09373754262924194},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivworkshops54471.2021.9669253","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivworkshops54471.2021.9669253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.41999998688697815}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322916","display_name":"Nagoya University","ror":"https://ror.org/04chrp450"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1506342804","https://openalex.org/W1605929701","https://openalex.org/W1970198743","https://openalex.org/W1971086298","https://openalex.org/W1989750313","https://openalex.org/W1996183429","https://openalex.org/W1999723779","https://openalex.org/W2055501135","https://openalex.org/W2092272471","https://openalex.org/W2104532622","https://openalex.org/W2141953624","https://openalex.org/W2206222117","https://openalex.org/W2406067508","https://openalex.org/W2747333411","https://openalex.org/W2798786289","https://openalex.org/W2901136733","https://openalex.org/W2905509562","https://openalex.org/W2928712118","https://openalex.org/W3003587986","https://openalex.org/W3008978935","https://openalex.org/W3118265977","https://openalex.org/W4255101542","https://openalex.org/W4293682399","https://openalex.org/W6681169598","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W2113128227","https://openalex.org/W632256878","https://openalex.org/W4211197663","https://openalex.org/W2491403535","https://openalex.org/W3123068371","https://openalex.org/W2479811461","https://openalex.org/W2104915799","https://openalex.org/W4311938462","https://openalex.org/W2355429491"],"abstract_inverted_index":{"There":[0],"are":[1,9,137],"few":[2],"open":[3,45,163],"source":[4,46,164],"autonomous":[5,47,126],"driving":[6,48,127],"planners":[7,165],"that":[8],"general":[10],"enough":[11],"to":[12,22,34,141],"be":[13,19,70,150],"used":[14],"directly,":[15],"or":[16],"which":[17],"could":[18],"easily":[20],"customized":[21],"suit":[23],"a":[24],"particular":[25],"application.":[26],"OpenPlanner":[27,83,118,160],"1.0":[28],"was":[29,39],"introduced":[30],"back":[31],"in":[32,152],"2017":[33],"fill":[35],"this":[36,64,153],"gap.":[37],"It":[38],"developed":[40,76],"and":[41,85,100,114,129,133,139,161],"integrated":[42],"with":[43,73],"the":[44,59,66,74,125,167],"framework":[49],"Autoware.":[50],"Since":[51],"then,":[52],"many":[53],"improvements":[54],"have":[55],"been":[56],"introduced,":[57],"following":[58],"original":[60],"design":[61,68],"goals.":[62],"In":[63],"paper,":[65],"basic":[67],"will":[69,149],"re-introduced":[71],"along":[72],"latest":[75],"technologies.":[77],"The":[78],"new":[79,88],"planner":[80],"is":[81,120,171,173],"called":[82],"2.0":[84,119],"includes":[86],"several":[87],"techniques":[89],"such":[90],"as":[91,155],"multiple":[92],"HD":[93],"road":[94],"network":[95],"map":[96],"formats":[97],"support,":[98,106],"trajectory":[99],"behavior":[101],"estimation,":[102],"planning":[103],"based":[104,111],"HMI":[105],"path":[107],"generation":[108],"using":[109,138],"kinematics":[110],"motion":[112],"simulation":[113],"lane":[115],"change":[116],"behavior.":[117],"already":[121],"attracting":[122],"attention":[123],"from":[124],"research":[128],"development":[130],"communities;":[131],"universities":[132],"companies.":[134],"Several":[135],"projects":[136],"contributing":[140],"its":[142],"code":[143],"base.":[144],"Some":[145],"of":[146],"these":[147],"applications":[148],"discussed":[151],"paper":[154],"well.":[156],"A":[157],"comparison":[158],"between":[159],"other":[162],"showing":[166],"aspects":[168],"where":[169],"it":[170],"superior":[172],"also":[174],"presented.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
