{"id":"https://openalex.org/W3191994656","doi":"https://doi.org/10.1109/jsyst.2021.3096932","title":"Decision-Making and Path Planning for Highway Autonomous Driving Based on Spatio-Temporal Lane-Change Gaps","display_name":"Decision-Making and Path Planning for Highway Autonomous Driving Based on Spatio-Temporal Lane-Change Gaps","publication_year":2021,"publication_date":"2021-07-30","ids":{"openalex":"https://openalex.org/W3191994656","doi":"https://doi.org/10.1109/jsyst.2021.3096932","mag":"3191994656"},"language":"en","primary_location":{"id":"doi:10.1109/jsyst.2021.3096932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2021.3096932","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"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 Systems 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/A5059359895","display_name":"Zhiqi Feng","orcid":"https://orcid.org/0000-0002-9894-5285"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqi Feng","raw_affiliation_strings":["State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9894-5285","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029808668","display_name":"Wenjie Song","orcid":"https://orcid.org/0000-0002-4121-908X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Song","raw_affiliation_strings":["State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4121-908X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3964-2433","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416064","display_name":"Meiling Wang","orcid":"https://orcid.org/0000-0002-3618-7423"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiling Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3618-7423","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control, and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.6101,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.81970407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"16","issue":"2","first_page":"3249","last_page":"3259"},"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":0.9990000128746033,"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":0.9973000288009644,"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/motion-planning","display_name":"Motion planning","score":0.6287213563919067},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5607370734214783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5253174304962158},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5159450173377991},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5092309713363647},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4981119632720947},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4856930673122406},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.47642406821250916},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33804023265838623},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32157111167907715},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26861435174942017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25040119886398315},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20640221238136292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.180840402841568}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6287213563919067},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5607370734214783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5253174304962158},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5159450173377991},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5092309713363647},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4981119632720947},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4856930673122406},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.47642406821250916},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33804023265838623},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32157111167907715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26861435174942017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25040119886398315},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20640221238136292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.180840402841568},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/jsyst.2021.3096932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2021.3096932","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"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 Systems Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G206231915","display_name":null,"funder_award_id":"91120003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2217668812","display_name":null,"funder_award_id":"61903034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5448203614","display_name":null,"funder_award_id":"61973034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6937405481","display_name":null,"funder_award_id":"2019TQ0035","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7914619715","display_name":null,"funder_award_id":"U1913203","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320327514","display_name":"Beijing Institute of Technology Research Fund Program for Young Scholars","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2102121543","https://openalex.org/W2104317982","https://openalex.org/W2107338474","https://openalex.org/W2134765105","https://openalex.org/W2144293566","https://openalex.org/W2289021422","https://openalex.org/W2343568200","https://openalex.org/W2404189583","https://openalex.org/W2406067508","https://openalex.org/W2587460705","https://openalex.org/W2602017857","https://openalex.org/W2736791111","https://openalex.org/W2739579981","https://openalex.org/W2744745135","https://openalex.org/W2783963507","https://openalex.org/W2793753444","https://openalex.org/W2887413094","https://openalex.org/W2890375627","https://openalex.org/W2896479405","https://openalex.org/W2902241648","https://openalex.org/W2963215357","https://openalex.org/W2968008415","https://openalex.org/W2981207549","https://openalex.org/W3004408449","https://openalex.org/W3009612472","https://openalex.org/W3010740942","https://openalex.org/W3012481664","https://openalex.org/W3015837712","https://openalex.org/W3100247915","https://openalex.org/W3105834261","https://openalex.org/W3118310208","https://openalex.org/W4293682399","https://openalex.org/W6684338915","https://openalex.org/W6696321523","https://openalex.org/W6704559304","https://openalex.org/W6748945268","https://openalex.org/W6753596642"],"related_works":["https://openalex.org/W2511659749","https://openalex.org/W2348730469","https://openalex.org/W2166809513","https://openalex.org/W4298124901","https://openalex.org/W2938768289","https://openalex.org/W2097798302","https://openalex.org/W3089692097","https://openalex.org/W2979564137","https://openalex.org/W2151316943","https://openalex.org/W2163106537"],"abstract_inverted_index":{"Safe":[0],"and":[1,4,59,71,107,133,147,164,179],"efficient":[2],"decision-making":[3],"path":[5,46],"planning":[6,47],"is":[7,131,138,143,166],"a":[8,81,127,145],"challenging":[9],"problem":[10],"for":[11,84],"autonomous":[12],"driving":[13,26],"in":[14,68,74,95,168,186],"highway":[15],"because":[16],"of":[17,41,56,101,123,162,181],"numerous":[18],"dynamic":[19,125,188],"vehicles":[20],"around":[21],"the":[22,38,50,102,105,108,111,117,121,134,141,151,154,160,169,187],"ego-vehicle.":[23],"For":[24],"ego-vehicle":[25,152],"on":[27,49,91],"structured":[28],"roads,":[29],"behavioral":[30],"decisions":[31],"tend":[32],"to":[33,37,153],"pay":[34],"more":[35,53],"attention":[36],"relative":[39,96],"distribution":[40],"its":[42],"surrounding":[43,124],"vehicles,":[44,126],"while":[45],"based":[48,90],"decision":[51,82,89,118,136,142,156],"requires":[52],"detailed":[54],"consideration":[55],"vehicle":[57],"model":[58],"lane":[60,85],"curvature.":[61],"Therefore,":[62],"these":[63],"two":[64,114],"modules":[65],"are":[66],"separated":[67],"our":[69],"article":[70],"executed":[72],"successively":[73],"different":[75],"coordinate":[76,171],"systems.":[77],"Specifically,":[78],"we":[79],"create":[80],"topology":[83,119],"changing":[86],"or":[87],"following":[88],"spatio-temporal":[92],"lane-change":[93],"gaps":[94],"moving":[97],"coordinate,":[98],"which":[99],"consists":[100],"node":[103],"representing":[104,110],"gap":[106,137],"edges":[109],"connectivity":[112],"between":[113],"gaps.":[115],"Combining":[116],"with":[120],"behaviors":[122],"local":[128],"cost":[129],"map":[130],"generated":[132],"target":[135,155],"selected.":[139],"Once":[140],"done,":[144],"smooth":[146],"safe":[148],"trajectory":[149,174],"from":[150],"gap,":[157],"that":[158],"satisfies":[159],"constraints":[161],"acceleration":[163],"curvature,":[165],"obtained":[167],"geodetic":[170],"through":[172],"polynomial":[173],"generation.":[175],"The":[176],"real-time":[177],"performance":[178],"effectiveness":[180],"this":[182],"method":[183],"were":[184],"verified":[185],"high-speed":[189],"interaction":[190],"scenarios.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}