{"id":"https://openalex.org/W4206151134","doi":"https://doi.org/10.1109/lra.2021.3139950","title":"Time-Optimized Online Planning For Parallel Parking With Nonlinear Optimization and Improved Monte Carlo Tree Search","display_name":"Time-Optimized Online Planning For Parallel Parking With Nonlinear Optimization and Improved Monte Carlo Tree Search","publication_year":2022,"publication_date":"2022-01-04","ids":{"openalex":"https://openalex.org/W4206151134","doi":"https://doi.org/10.1109/lra.2021.3139950"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3139950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3139950","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5037134973","display_name":"Shaoyu Song","orcid":"https://orcid.org/0000-0001-7607-3167"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoyu Song","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China","School of Automotive Studies, Tongji university, Shanghai, China, 201804 (e-mail: s.song@tongji.edu.cn)"],"raw_orcid":"https://orcid.org/0000-0001-7607-3167","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of Automotive Studies, Tongji university, Shanghai, China, 201804 (e-mail: s.song@tongji.edu.cn)","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114375874","display_name":"Hui Chen","orcid":"https://orcid.org/0000-0002-9840-4876"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Chen","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China","School of Automotive Studies, Tongji University, Shanghai, China, 201804 (e-mail: hui-chen@tongji.edu.cn)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China, 201804 (e-mail: hui-chen@tongji.edu.cn)","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101907682","display_name":"Hongwei Sun","orcid":"https://orcid.org/0000-0001-8758-9337"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongwei Sun","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China","Tongji university, China, (e-mail: 1931574@tongji.edu.cn)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Tongji university, China, (e-mail: 1931574@tongji.edu.cn)","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090137230","display_name":"Meicen Liu","orcid":"https://orcid.org/0000-0002-4069-2510"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meicen Liu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China","School of Automotive Studies, Tongji university, Shanghai, China, 201804 (e-mail: meicenliu@tongji.edu.cn)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of Automotive Studies, Tongji university, Shanghai, China, 201804 (e-mail: meicenliu@tongji.edu.cn)","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008014187","display_name":"Taokai Xia","orcid":"https://orcid.org/0009-0000-3721-2275"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taokai Xia","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China","School of automotive studies, Tongji university, Shanghai, China, 201804 (e-mail: xiataokai@tongji.edu.cn)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of automotive studies, Tongji university, Shanghai, China, 201804 (e-mail: xiataokai@tongji.edu.cn)","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":1.3407,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.76866521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"2226","last_page":"2233"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12546","display_name":"Smart Parking Systems Research","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9987999796867371,"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/computer-science","display_name":"Computer science","score":0.7152156233787537},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.6145483255386353},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5775507092475891},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5134580731391907},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5020849704742432},{"id":"https://openalex.org/keywords/monte-carlo-tree-search","display_name":"Monte Carlo tree search","score":0.47282493114471436},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.47113484144210815},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4635566473007202},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38188230991363525},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23383241891860962},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12051442265510559}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7152156233787537},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.6145483255386353},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5775507092475891},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5134580731391907},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5020849704742432},{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.47282493114471436},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.47113484144210815},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4635566473007202},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38188230991363525},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23383241891860962},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12051442265510559},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3139950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3139950","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1970412155","https://openalex.org/W1977989560","https://openalex.org/W1996183429","https://openalex.org/W2008929839","https://openalex.org/W2020135152","https://openalex.org/W2027311349","https://openalex.org/W2041505178","https://openalex.org/W2126316555","https://openalex.org/W2257979135","https://openalex.org/W2292169362","https://openalex.org/W2306644740","https://openalex.org/W2345973286","https://openalex.org/W2766447205","https://openalex.org/W2787446418","https://openalex.org/W2890807499","https://openalex.org/W2902241648","https://openalex.org/W2902907165","https://openalex.org/W2904177032","https://openalex.org/W2911846823","https://openalex.org/W2963214840","https://openalex.org/W2972590003","https://openalex.org/W2986922121","https://openalex.org/W2990845069","https://openalex.org/W2996857119","https://openalex.org/W3000383034","https://openalex.org/W3042755481","https://openalex.org/W3051745844","https://openalex.org/W3111257915","https://openalex.org/W4240864232","https://openalex.org/W6772802753"],"related_works":["https://openalex.org/W2571592646","https://openalex.org/W2567165815","https://openalex.org/W2740304877","https://openalex.org/W2112583639","https://openalex.org/W2766259847","https://openalex.org/W2978000411","https://openalex.org/W2601600301","https://openalex.org/W4226164546","https://openalex.org/W346633817","https://openalex.org/W115012109"],"abstract_inverted_index":{"Automatic":[0],"parallel":[1],"parking":[2,11,56,60,80,111,139,170],"is":[3],"critical":[4],"to":[5,38,106,135,193],"increase":[6],"safety":[7],"in":[8,52,62,182],"urban":[9],"narrow":[10,49,63],"spots,":[12],"maximize":[13],"the":[14,45,66,72,76,87,97,108,122,126,149,178,196,199],"traffic":[15],"efficiency,":[16],"and":[17,23,33,48,101,145,160],"provide":[18],"human":[19],"drivers":[20],"with":[21,156,172],"mobility":[22],"convenience.":[24],"Recent":[25],"research":[26],"integrates":[27],"Monte":[28],"Carlo":[29],"tree":[30],"search":[31],"(MCTS)":[32],"artificial":[34],"neural":[35],"networks":[36],"(ANNs)":[37],"calculate":[39],"optimal":[40],"lateral":[41],"motions":[42,112,115,140],"without":[43],"considering":[44],"longitudinal":[46],"aspect":[47],"spots;":[50],"advances":[51],"nonlinear":[53,93],"programming-based":[54],"(NPB)":[55],"methods":[57],"consider":[58],"time-optimal":[59,79,138],"motion":[61,99],"spots":[64],"using":[65],"time-consuming":[67],"optimization":[68,94],"calculation.":[69],"To":[70],"address":[71],"computational":[73],"efficiency":[74],"of":[75,78,110,148,158,167,198],"planning":[77],"maneuvers,":[81],"a":[82,188],"complete":[83],"framework":[84],"relying":[85],"on":[86,125,187],"two":[88],"compositions":[89],"was":[90,104,180],"introduced.":[91],"First,":[92],"that":[95,157],"formulates":[96],"minimum":[98],"time":[100],"vehicle":[102,179,192],"constraint":[103],"used":[105],"generate":[107,136],"data":[109,128],"offline.":[113],"These":[114],"were":[116,129,152,185],"subsequently":[117],"learned":[118],"by":[119,131,154],"ANNs.":[120],"Second,":[121],"ANNs":[123],"trained":[124],"offline":[127],"employed":[130],"an":[132],"improved":[133],"MCTS":[134],"approximate":[137],"online.":[141],"The":[142],"time-optimized":[143],"performance":[144,147],"run-time":[146],"proposed":[150,200],"method":[151],"confirmed":[153],"comparing":[155],"NPB":[159],"other":[161],"mainstream":[162],"methods.":[163],"A":[164],"success":[165],"rate":[166],"100%":[168],"for":[169],"slots":[171],"merely":[173],"10%":[174],"larger":[175],"length":[176],"than":[177],"realized":[181],"simulations.":[183],"Experiments":[184],"conducted":[186],"full-sized":[189],"pure":[190],"electric":[191],"further":[194],"confirm":[195],"effectiveness":[197],"method.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}