{"id":"https://openalex.org/W7141543541","doi":"https://doi.org/10.1109/jiot.2026.3678248","title":"Multimodal Classification Network Guided Trajectory Planning for 4WIS Autonomous Parking Considering Obstacle Attributes","display_name":"Multimodal Classification Network Guided Trajectory Planning for 4WIS Autonomous Parking Considering Obstacle Attributes","publication_year":2026,"publication_date":"2026-03-27","ids":{"openalex":"https://openalex.org/W7141543541","doi":"https://doi.org/10.1109/jiot.2026.3678248"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2026.3678248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3678248","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5121165817","display_name":"Jingjia Teng","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjia Teng","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0002-3882-1827","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130781355","display_name":"Yang Li","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Li","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-3109-0953","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130720283","display_name":"Yougang Bian","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yougang Bian","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0346-7883","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033284664","display_name":"Manjiang Hu","orcid":"https://orcid.org/0000-0003-2251-4478"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Manjiang Hu","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-2251-4478","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101760892","display_name":"Yingbai Hu","orcid":"https://orcid.org/0000-0003-2452-3570"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yingbai Hu","raw_affiliation_strings":["Multi-Scale Medical Robotics Centre, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-2452-3570","affiliations":[{"raw_affiliation_string":"Multi-Scale Medical Robotics Centre, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121245273","display_name":"Guofa Li","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guofa Li","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-7889-4695","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5130758553","display_name":"Jianqiang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Wang","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4363-6108","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30697638,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"12","first_page":"26666","last_page":"26681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12546","display_name":"Smart Parking Systems Research","score":0.311599999666214,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12546","display_name":"Smart Parking Systems Research","score":0.311599999666214,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.2442999929189682,"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":0.2287999987602234,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5972999930381775},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5916000008583069},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4814999997615814},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4198000133037567},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3817000091075897},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.32030001282691956},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3154999911785126},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.313400000333786}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7821000218391418},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5972999930381775},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5916000008583069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4984000027179718},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4814999997615814},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4198000133037567},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3817000091075897},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37770000100135803},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.32030001282691956},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3154999911785126},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.3034999966621399},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C51675839","wikidata":"https://www.wikidata.org/wiki/Q1665681","display_name":"Intelligent Network","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.267300009727478},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C33724603","wikidata":"https://www.wikidata.org/wiki/Q812540","display_name":"Bayesian network","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25459998846054077},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.25459998846054077},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2026.3678248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3678248","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6367385387420654,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1310750909","display_name":null,"funder_award_id":"52302493","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Four-wheel":[0],"independent":[1],"steering":[2,143],"(4WIS)":[3],"vehicles":[4],"have":[5],"attracted":[6],"increasing":[7],"attention":[8],"for":[9,65,85,232],"their":[10],"superior":[11],"maneuverability.":[12],"Human":[13],"drivers":[14],"typically":[15],"choose":[16],"to":[17,29,42,73,101,111,116,131,183,186,191],"cross":[18],"or":[19,45,120],"drive":[20],"over":[21],"low-profile":[22],"obstacles":[23,166,194],"(<italic":[24],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[25],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">e.g.</i>,":[26],"plastic":[27],"bags)":[28],"efficiently":[30],"navigate":[31],"through":[32],"narrow":[33],"spaces,":[34],"while":[35],"existing":[36],"planners":[37],"neglect":[38],"obstacle":[39,161,181],"attributes,":[40],"leading":[41],"suboptimal":[43],"efficiency":[44],"planning":[46,58,122,184],"failures.":[47],"To":[48],"address":[49,192],"this":[50],"issue,":[51],"we":[52,198],"propose":[53],"a":[54,62,75,89,159,200],"novel":[55],"multimodal":[56,90],"trajectory":[57,86],"framework":[59],"that":[60,209],"employs":[61],"neural":[63],"network":[64,92],"scene":[66,106,117],"perception,":[67],"integrates":[68],"4WIS":[69,146,233],"hybrid":[70],"A*":[71],"search":[72,139],"generate":[74],"warm":[76],"start,":[77],"and":[78,96,104,149,170,229],"formulates":[79],"an":[80],"optimal":[81],"control":[82],"problem":[83],"(OCP)":[84],"optimization.":[87],"Specifically,":[88],"perception":[91],"fusing":[93],"visual":[94],"information":[95],"vehicle":[97],"states":[98],"is":[99,172],"employed":[100],"capture":[102],"semantic":[103],"contextual":[105],"information,":[107],"enabling":[108],"the":[109,113,175,216,221],"planner":[110],"adapt":[112],"strategy":[114],"according":[115],"complexity":[118],"(hard":[119],"easy":[121],"task).":[123],"For":[124],"hard":[125],"tasks,":[126],"guided":[127],"points":[128],"are":[129],"introduced":[130],"decompose":[132],"complex":[133],"tasks":[134],"into":[135,174],"local":[136],"subtasks,":[137],"improving":[138],"efficiency.":[140],"The":[141],"multiple":[142],"modes":[144],"of":[145],"vehicles\u2014Ackermann,":[147],"diagonal,":[148],"zero-turn\u2014are":[150],"also":[151],"incorporated":[152,173],"as":[153,167,211],"kinematically":[154],"feasible":[155],"motion":[156,196],"primitives.":[157],"Moreover,":[158],"hierarchical":[160],"handling":[162],"strategy,":[163],"which":[164],"categorizes":[165],"\u201cnon-traversable\u201d,":[168],"\u201ccrossable\u201d,":[169],"\u201cdrive-over\u201d,":[171],"node":[176],"expansion":[177],"process,":[178],"explicitly":[179],"linking":[180],"attributes":[182],"actions":[185],"enable":[187],"efficient":[188],"decisionmaking.":[189],"Furthermore,":[190],"dynamic":[193],"with":[195],"uncertainty,":[197],"introduce":[199],"probabilistic":[201],"risk":[202],"field":[203],"model,":[204],"constructing":[205],"risk-aware":[206],"driving":[207],"corridors":[208],"serve":[210],"linear":[212],"collision":[213],"constraints":[214],"in":[215,225,236],"OCP.":[217],"Experimental":[218],"results":[219],"demonstrate":[220],"proposed":[222],"framework\u2019s":[223],"effectiveness":[224],"generating":[226],"safe,":[227],"efficient,":[228],"smooth":[230],"trajectories":[231],"vehicles,":[234],"especially":[235],"constrained":[237],"environments.":[238]},"counts_by_year":[],"updated_date":"2026-06-11T06:19:23.411458","created_date":"2026-03-28T00:00:00"}
