{"id":"https://openalex.org/W4410204272","doi":"https://doi.org/10.1109/lra.2025.3568308","title":"Unified Planning Framework With Drivable Area Attention Extraction for Autonomous Driving in Urban Scenarios","display_name":"Unified Planning Framework With Drivable Area Attention Extraction for Autonomous Driving in Urban Scenarios","publication_year":2025,"publication_date":"2025-05-08","ids":{"openalex":"https://openalex.org/W4410204272","doi":"https://doi.org/10.1109/lra.2025.3568308"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3568308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568308","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":null,"display_name":"Siyuan Chen","orcid":"https://orcid.org/0000-0003-4140-9729"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Chen","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China","School of Automation, Nanjing University of Science and Technology, Nanjing, P.R.China"],"raw_orcid":"https://orcid.org/0000-0003-4140-9729","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, P.R.China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Li Yang","orcid":"https://orcid.org/0000-0002-8152-7642"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Yang","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China","School of Automation, Nanjing University of Science and Technology, Nanjing, P.R.China"],"raw_orcid":"https://orcid.org/0000-0002-8152-7642","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, P.R.China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104340955","display_name":"Zihao Mao","orcid":null},"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":"Zihao Mao","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, Beijing Institute of Technology, Beijing, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, P.R.China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mingyu Hou","orcid":"https://orcid.org/0009-0005-2147-8147"},"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":"Mingyu Hou","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, Beijing Institute of Technology, Beijing, P.R.China"],"raw_orcid":"https://orcid.org/0009-0005-2147-8147","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, P.R.China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101445302","display_name":"Liu He","orcid":"https://orcid.org/0000-0003-4312-9763"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu He","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China","School of Automation, Nanjing University of Science and Technology, Nanjing, P.R.China"],"raw_orcid":"https://orcid.org/0000-0003-4312-9763","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, P.R.China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","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":["School of Automation, Beijing Institute of Technology, Beijing, China","School of Automation, Beijing Institute of Technology, Beijing, P.R.China"],"raw_orcid":"https://orcid.org/0000-0002-4121-908X","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, P.R.China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6161,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61753403,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"10","issue":"7","first_page":"6616","last_page":"6623"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9902999997138977,"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":0.9902999997138977,"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":0.9789999723434448,"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/T11106","display_name":"Data Management and Algorithms","score":0.9527999758720398,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/computer-science","display_name":"Computer science","score":0.5155351161956787},{"id":"https://openalex.org/keywords/urban-planning","display_name":"Urban planning","score":0.42900484800338745},{"id":"https://openalex.org/keywords/extraction","display_name":"Extraction (chemistry)","score":0.4174400866031647},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3378944993019104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19166019558906555},{"id":"https://openalex.org/keywords/civil-engineering","display_name":"Civil engineering","score":0.11135438084602356}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5155351161956787},{"id":"https://openalex.org/C49545453","wikidata":"https://www.wikidata.org/wiki/Q69883","display_name":"Urban planning","level":2,"score":0.42900484800338745},{"id":"https://openalex.org/C4725764","wikidata":"https://www.wikidata.org/wiki/Q844704","display_name":"Extraction (chemistry)","level":2,"score":0.4174400866031647},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3378944993019104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19166019558906555},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.11135438084602356},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3568308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3568308","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7099999785423279}],"awards":[{"id":"https://openalex.org/G2565581497","display_name":null,"funder_award_id":"92370203","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":21,"referenced_works":["https://openalex.org/W198912494","https://openalex.org/W2152374007","https://openalex.org/W2562817597","https://openalex.org/W2734733003","https://openalex.org/W2782474430","https://openalex.org/W2790924949","https://openalex.org/W2909906617","https://openalex.org/W2953303875","https://openalex.org/W2963489164","https://openalex.org/W2968202530","https://openalex.org/W3034722190","https://openalex.org/W3089736706","https://openalex.org/W3113555494","https://openalex.org/W3205367325","https://openalex.org/W3208122016","https://openalex.org/W3209253128","https://openalex.org/W3210614280","https://openalex.org/W4297031087","https://openalex.org/W4312936476","https://openalex.org/W6741002519","https://openalex.org/W6804059056"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0],"diversity":[1],"of":[2,55,82,90,137,151,168,210],"urban":[3],"traffic":[4],"scenarios":[5,50],"poses":[6],"challenges":[7],"in":[8,179],"stability":[9],"and":[10,25,47,57,72,93,101,135,140,148,185,187,200,214],"generalization":[11],"for":[12],"autonomous":[13],"driving.":[14],"To":[15,144],"tackle":[16],"this":[17,19],"issue,":[18],"paper":[20],"proposes":[21],"a":[22,34,52,73,128,173],"hierarchical":[23],"decision-making":[24],"planning":[26],"framework":[27],"based":[28],"on":[29],"reinforcement":[30,129],"learning,":[31],"which":[32],"employs":[33],"unified":[35],"drivable":[36,60,65],"area":[37,66],"cross-attention":[38],"extraction":[39],"mechanism,":[40],"effectively":[41],"transforming":[42],"behavioral":[43],"decisions":[44],"within":[45,127],"intricate":[46],"varied":[48],"driving":[49],"into":[51],"streamlined":[53],"process":[54],"identifying":[56],"selecting":[58],"optimal":[59],"areas.":[61],"Firstly,":[62],"the":[63,80,87,102,106,169,208],"target":[64,141],"is":[67,76,109,124,157],"represented":[68],"by":[69,190],"lane":[70,94],"gaps,":[71],"segmentation":[74],"network":[75,131],"designed":[77],"to":[78,132,159,193,205],"reduce":[79],"complexity":[81],"manual":[83],"coordinate":[84],"extraction.":[85],"Secondly,":[86],"bird's-eye":[88],"view":[89],"ego":[91,118],"vehicle":[92,119,138,146],"gaps":[95],"features":[96,113],"are":[97,114,188,203],"feature":[98],"encoded":[99],"respectively,":[100],"cross":[103],"attention":[104,112],"between":[105],"two":[107],"components":[108],"extracted.":[110],"Subsequently,":[111],"further":[115],"fused":[116],"with":[117,172],"states.":[120],"This":[121],"refined":[122],"information":[123],"then":[125],"used":[126,158],"learning":[130,134],"facilitate":[133],"feedback":[136],"speed":[139],"position.":[142],"Ultimately,":[143],"ensure":[145],"safety":[147],"precise":[149],"execution":[150,161],"decisions,":[152],"an":[153],"iterative":[154],"optimization":[155],"method":[156],"generate":[160],"trajectories.":[162],"Comparative":[163],"simulations":[164],"demonstrate":[165],"promising":[166],"performance":[167],"proposed":[170],"method,":[171],"success":[174],"rate":[175],"greater":[176],"than":[177],"93.3%":[178],"different":[180,194],"scenarios,":[181],"including":[182],"expressway,":[183],"merge":[184],"intersection,":[186],"improved":[189],"48.8%":[191],"compared":[192],"environmental":[195],"characterization":[196],"methods.":[197],"Benchmark":[198],"comparisons":[199],"ablation":[201],"studies":[202],"conducted":[204],"fully":[206],"validate":[207],"merits":[209],"our":[211],"method.":[212],"Codes":[213],"videos":[215],"can":[216],"be":[217],"available":[218],"at":[219],"<uri":[220],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[221],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/syccc901/UDAAE</uri>.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}