{"id":"https://openalex.org/W3182636718","doi":"https://doi.org/10.1109/mvt.2021.3086432","title":"Virtual Target-Based Longitudinal Motion Planning of Autonomous Vehicles at Urban Intersections: Determining Control Inputs of Acceleration With Human Driving Characteristic-Based Constraints","display_name":"Virtual Target-Based Longitudinal Motion Planning of Autonomous Vehicles at Urban Intersections: Determining Control Inputs of Acceleration With Human Driving Characteristic-Based Constraints","publication_year":2021,"publication_date":"2021-07-02","ids":{"openalex":"https://openalex.org/W3182636718","doi":"https://doi.org/10.1109/mvt.2021.3086432","mag":"3182636718"},"language":"en","primary_location":{"id":"doi:10.1109/mvt.2021.3086432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mvt.2021.3086432","pdf_url":null,"source":{"id":"https://openalex.org/S98855836","display_name":"IEEE Vehicular Technology Magazine","issn_l":"1556-6072","issn":["1556-6072","1556-6080"],"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 Vehicular Technology Magazine","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/A5009456937","display_name":"Jinsoo Yoo","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinsoo Michael Yoo","raw_affiliation_strings":["Mechanical Engineering, Seoul National University, Gwanak-gu, 08826 Seoul, Korea (the Republic of)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Seoul National University, Gwanak-gu, 08826 Seoul, Korea (the Republic of)","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000434865","display_name":"Yonghwan Jeong","orcid":"https://orcid.org/0000-0001-9193-7349"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Jeong","raw_affiliation_strings":["Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Nowon-gu, Seoul, Korea (the Republic of)"],"raw_orcid":"https://orcid.org/0000-0001-9193-7349","affiliations":[{"raw_affiliation_string":"Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Nowon-gu, Seoul, Korea (the Republic of)","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023689051","display_name":"Kyongsu Yi","orcid":"https://orcid.org/0000-0002-0484-9752"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyongsu Yi","raw_affiliation_strings":["Mechanical and Aerosapce Engineering, Seoul National University, Seoul, 151-744 South Korea, Korea (the Republic of)"],"raw_orcid":"https://orcid.org/0000-0002-0484-9752","affiliations":[{"raw_affiliation_string":"Mechanical and Aerosapce Engineering, Seoul National University, Seoul, 151-744 South Korea, Korea (the Republic of)","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5579,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.6590188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"16","issue":"3","first_page":"38","last_page":"46"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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/T10524","display_name":"Traffic control and management","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/intersection","display_name":"Intersection (aeronautics)","score":0.8958735466003418},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.78974848985672},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.526790201663971},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48014137148857117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.478943407535553},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47742947936058044},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.47332653403282166},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45622262358665466},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4485170841217041},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42742007970809937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3731768727302551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3559810519218445},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3532603979110718},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34031710028648376},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.17886412143707275},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1700751781463623}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.8958735466003418},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.78974848985672},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.526790201663971},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48014137148857117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.478943407535553},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47742947936058044},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.47332653403282166},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45622262358665466},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4485170841217041},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42742007970809937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3731768727302551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3559810519218445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3532603979110718},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34031710028648376},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.17886412143707275},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1700751781463623},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mvt.2021.3086432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mvt.2021.3086432","pdf_url":null,"source":{"id":"https://openalex.org/S98855836","display_name":"IEEE Vehicular Technology Magazine","issn_l":"1556-6072","issn":["1556-6072","1556-6080"],"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 Vehicular Technology Magazine","raw_type":"journal-article"},{"id":"pmh:oai:s-space.snu.ac.kr:10371/190491","is_oa":false,"landing_page_url":"https://hdl.handle.net/10371/190491","pdf_url":null,"source":{"id":"https://openalex.org/S4306401345","display_name":"Seoul National University Open Repository (Seoul National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139264467","host_organization_name":"Seoul National University","host_organization_lineage":["https://openalex.org/I139264467"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8399999737739563}],"awards":[{"id":"https://openalex.org/G4741970280","display_name":null,"funder_award_id":"Grant 10079730","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G5008738523","display_name":null,"funder_award_id":"18TLRP-B146733-01","funder_id":"https://openalex.org/F4320322010","funder_display_name":"Ministry of Land, Infrastructure and Transport"},{"id":"https://openalex.org/G5645370960","display_name":null,"funder_award_id":"19PQOW-B152473-01","funder_id":"https://openalex.org/F4320322010","funder_display_name":"Ministry of Land, Infrastructure and Transport"},{"id":"https://openalex.org/G7725543403","display_name":null,"funder_award_id":"No. NRF2016R1E1A1A01943543","funder_id":"https://openalex.org/F4320322347","funder_display_name":"Ministry of Science ICT and Future Planning"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322010","display_name":"Ministry of Land, Infrastructure and Transport","ror":"https://ror.org/04xt5aa77"},{"id":"https://openalex.org/F4320322347","display_name":"Ministry of Science ICT and Future Planning","ror":"https://ror.org/032e49973"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1972022192","https://openalex.org/W2344396459","https://openalex.org/W2741087535","https://openalex.org/W2789163028","https://openalex.org/W2789347546","https://openalex.org/W2903212089","https://openalex.org/W2935294417","https://openalex.org/W2970452918","https://openalex.org/W2986015317","https://openalex.org/W2993206324","https://openalex.org/W3011340359","https://openalex.org/W3011955462","https://openalex.org/W3035032111","https://openalex.org/W3091881817","https://openalex.org/W3092297010"],"related_works":["https://openalex.org/W2348909947","https://openalex.org/W4292672442","https://openalex.org/W2565094479","https://openalex.org/W2362101859","https://openalex.org/W2390829436","https://openalex.org/W2791431590","https://openalex.org/W2941610985","https://openalex.org/W4235810826","https://openalex.org/W2784113758","https://openalex.org/W2174006685"],"abstract_inverted_index":{"This":[0],"article":[1],"describes":[2],"the":[3,37,41,55,63,135,154,157],"development":[4],"and":[5,21,54,66,78,85,114,122,172],"implementation":[6],"of":[7,13,48,51,80,138,156],"virtual":[8,27,56,158],"target-based":[9],"longitudinal":[10],"motion":[11,162],"planning":[12,163],"autonomous":[14,169],"vehicles":[15,35],"at":[16,40],"urban":[17,175],"intersections":[18],"ensuring":[19],"safety":[20],"ride":[22],"comfort.":[23],"In":[24],"this":[25],"study,":[26],"targets":[28,82],"are":[29,59,83,98],"designed":[30],"to":[31,133,152],"cope":[32],"with":[33,87,100,140],"oncoming":[34],"in":[36],"blind":[38],"zone":[39],"intersection":[42,67,118],"for":[43],"safety.":[44],"The":[45,75,94,126,145,160],"true":[46],"field":[47],"view":[49],"(FOV)":[50],"cognitive":[52],"sensors":[53],"target":[57,109],"states":[58,77],"constructed":[60],"based":[61],"on":[62,107,167,174],"sensor":[64],"specification":[65],"road":[68],"information":[69],"from":[70],"a":[71],"high-definition":[72],"(HD)":[73],"map.":[74],"future":[76],"intention":[79],"sensor-detected":[81],"inferred":[84],"predicted":[86,108],"an":[88,101,168],"interacting":[89],"multiple":[90],"model":[91,104,127],"(IMM)":[92],"filter.":[93],"local":[95],"IMM":[96],"filters":[97],"employed":[99],"intelligent":[102],"driver":[103],"(IDM).":[105],"Based":[106],"states,":[110],"two":[111],"driving":[112,142,170],"modes-\"cross\"":[113],"\"stop\"-under":[115],"three":[116],"different":[117],"stages-\"approach,\"":[119],"\"intersection":[120,123],"in,\"":[121],"out\"-are":[124],"determined.":[125],"predictive":[128],"control":[129,136],"(MPC)":[130],"is":[131,148],"formulated":[132],"determine":[134],"inputs":[137],"acceleration":[139],"human":[141],"characteristics-based":[143],"constraints.":[144],"proposed":[146],"algorithm":[147],"evaluated":[149],"through":[150],"simulation":[151],"indicate":[153],"effectiveness":[155],"target.":[159],"suggested":[161],"has":[164],"been":[165],"implemented":[166],"vehicle":[171],"tested":[173],"roads.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}