{"id":"https://openalex.org/W3111013590","doi":"https://doi.org/10.1109/mits.2021.3084534","title":"On-Road Motion Planning for Automated Vehicles at Ulm University","display_name":"On-Road Motion Planning for Automated Vehicles at Ulm University","publication_year":2021,"publication_date":"2021-06-22","ids":{"openalex":"https://openalex.org/W3111013590","doi":"https://doi.org/10.1109/mits.2021.3084534","mag":"3111013590"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2021.3084534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2021.3084534","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2012.04028","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026015450","display_name":"Maximilian Graf","orcid":"https://orcid.org/0000-0001-6443-4498"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]},{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Maximilian J. Graf","raw_affiliation_strings":["ZF Group Friedrichshafen","[Institute of Measurement, Control and Microtechnology, Ulm University, Ulm, Baden-W\u00fcrttemberg, Germany]"],"affiliations":[{"raw_affiliation_string":"ZF Group Friedrichshafen","institution_ids":["https://openalex.org/I254181534"]},{"raw_affiliation_string":"[Institute of Measurement, Control and Microtechnology, Ulm University, Ulm, Baden-W\u00fcrttemberg, Germany]","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035697160","display_name":"Oliver Speidel","orcid":"https://orcid.org/0009-0009-2170-0050"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver M. Speidel","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","[Institute of Measurement, Control and Microtechnology , Ulm University, Ulm, 89069, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"[Institute of Measurement, Control and Microtechnology , Ulm University, Ulm, 89069, Germany]","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037434855","display_name":"Jona Ruof","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jona O. Ruof","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","[Institute of Measurement, Control and Microtechnology, University of Ulm, Ulm, Baden-W\u00fcrttemberg, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"[Institute of Measurement, Control and Microtechnology, University of Ulm, Ulm, Baden-W\u00fcrttemberg, Germany]","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085054529","display_name":"Klaus Dietmayer","orcid":"https://orcid.org/0000-0002-1651-014X"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Dietmayer","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","[Institute of Measurement, Control and Microtechnology, Ulm University, Ulm, Baden-W\u00fcrttemberg, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"[Institute of Measurement, Control and Microtechnology, Ulm University, Ulm, Baden-W\u00fcrttemberg, Germany]","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026015450"],"corresponding_institution_ids":["https://openalex.org/I196349391","https://openalex.org/I254181534"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00462636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"3","first_page":"121","last_page":"131"},"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":0.9977999925613403,"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":0.9965999722480774,"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/key","display_name":"Key (lock)","score":0.6285173892974854},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5875461101531982},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5870678424835205},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5345897674560547},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.5230111479759216},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.49383053183555603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4661843478679657},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4624834656715393},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42283159494400024},{"id":"https://openalex.org/keywords/test","display_name":"Test (biology)","score":0.4162846505641937},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36545270681381226},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3641473352909088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2736676335334778},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.2680332064628601},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.18483304977416992},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10309970378875732}],"concepts":[{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6285173892974854},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5875461101531982},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5870678424835205},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5345897674560547},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.5230111479759216},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.49383053183555603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4661843478679657},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4624834656715393},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42283159494400024},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.4162846505641937},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36545270681381226},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3641473352909088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2736676335334778},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2680332064628601},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.18483304977416992},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10309970378875732},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/mits.2021.3084534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2021.3084534","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2012.04028","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.04028","pdf_url":"https://arxiv.org/pdf/2012.04028","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3111013590","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2012.04028.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2012.04028","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2012.04028","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2012.04028","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.04028","pdf_url":"https://arxiv.org/pdf/2012.04028","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3111013590.pdf"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1504992226","https://openalex.org/W1507290626","https://openalex.org/W1511243153","https://openalex.org/W1909771825","https://openalex.org/W1965455100","https://openalex.org/W2032924574","https://openalex.org/W2056877664","https://openalex.org/W2107338474","https://openalex.org/W2128060716","https://openalex.org/W2148361676","https://openalex.org/W2152374007","https://openalex.org/W2163590332","https://openalex.org/W2165216595","https://openalex.org/W2192586580","https://openalex.org/W2326206646","https://openalex.org/W2505763307","https://openalex.org/W2538895738","https://openalex.org/W2561432806","https://openalex.org/W2563919921","https://openalex.org/W2565615809","https://openalex.org/W2740957115","https://openalex.org/W2782474430","https://openalex.org/W2904339943","https://openalex.org/W2905450947","https://openalex.org/W2939308603","https://openalex.org/W2968983352","https://openalex.org/W2970613178","https://openalex.org/W2972399436","https://openalex.org/W2989922365","https://openalex.org/W3009593063","https://openalex.org/W3013777218","https://openalex.org/W3034652687","https://openalex.org/W3103612787","https://openalex.org/W3104790740","https://openalex.org/W3118494318","https://openalex.org/W4249261707","https://openalex.org/W6768461235"],"related_works":["https://openalex.org/W3175667661","https://openalex.org/W2946231253","https://openalex.org/W594711730","https://openalex.org/W3131168852","https://openalex.org/W126671607","https://openalex.org/W2912138652","https://openalex.org/W2772721707","https://openalex.org/W2618376746","https://openalex.org/W2619088434","https://openalex.org/W2461384259","https://openalex.org/W647473415","https://openalex.org/W1588711604","https://openalex.org/W3090172136","https://openalex.org/W636382791","https://openalex.org/W2137514195","https://openalex.org/W3096225893","https://openalex.org/W3162932317","https://openalex.org/W3131995318","https://openalex.org/W3032475627","https://openalex.org/W3172854155"],"abstract_inverted_index":{"The":[0],"Institute":[1],"of":[2,48,55,105,117],"Measurement,":[3],"Control":[4],"and":[5,17,42,69,90,122,132,149,161],"Microtechnology":[6],"at":[7],"Ulm":[8],"University":[9],"investigates":[10],"advanced":[11],"driver":[12],"assistance":[13],"systems":[14],"for":[15,36,45],"decades":[16],"concentrates":[18],"in":[19,65,87],"large":[20],"parts":[21],"on":[22],"autonomous":[23,37],"driving.":[24,38],"It":[25,39],"is":[26,32,40],"well":[27,53,115],"known":[28],"that":[29],"motion":[30,129],"planning":[31,130],"a":[33,61,67],"key":[34],"technology":[35],"first":[41],"foremost":[43],"responsible":[44],"the":[46,49,77,101,109,111,118,128,134],"safety":[47],"vehicle":[50,143],"passengers":[51],"as":[52,54,114,116],"all":[56],"surrounding":[57],"traffic":[58,89,148],"participants.":[59],"However,":[60],"further":[62],"task":[63],"consists":[64],"providing":[66],"smooth":[68],"comfortable":[70],"driving":[71,158],"behavior.":[72],"In":[73,93],"Ulm,":[74],"we":[75,96,125,138],"have":[76],"grateful":[78],"opportunity":[79],"to":[80,99],"test":[81,112],"our":[82,106,142],"algorithms":[83],"under":[84],"real":[85],"conditions":[86],"public":[88,146],"diversified":[91],"scenarios.":[92],"this":[94],"paper,":[95],"would":[97],"like":[98,156],"give":[100],"readers":[102],"an":[103],"insight":[104],"work,":[107],"about":[108],"vehicle,":[110],"track,":[113],"related":[119],"problems,":[120],"challenges":[121],"solutions.":[123],"Therefore,":[124],"will":[126,139],"describe":[127],"system":[131],"explain":[133],"implemented":[135],"functionalities.":[136],"Furthermore,":[137],"show":[140],"how":[141,150],"moves":[144],"through":[145,159],"road":[147],"it":[151],"deals":[152],"with":[153],"challenging":[154],"scenarios":[155],"e.g.":[157],"roundabouts":[160],"intersections.":[162]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}