{"id":"https://openalex.org/W4390099569","doi":"https://doi.org/10.1109/robio58561.2023.10354858","title":"Integrated Behavior Planning and Motion Control for Autonomous Vehicles with Traffic Rules Compliance","display_name":"Integrated Behavior Planning and Motion Control for Autonomous Vehicles with Traffic Rules Compliance","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099569","doi":"https://doi.org/10.1109/robio58561.2023.10354858"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354858","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5100782481","display_name":"Haichao Liu","orcid":"https://orcid.org/0009-0006-2311-7094"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Haichao Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]},{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100438001","display_name":"Kai Chen","orcid":"https://orcid.org/0000-0003-2587-6028"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kai Chen","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]},{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413222","display_name":"Yulin Li","orcid":"https://orcid.org/0000-0001-6907-5594"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yulin Li","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","Division of Emerging Interdisciplinary Areas, The Hong Kong University of Science and Technology, Hong Kong SAR, China","Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]},{"raw_affiliation_string":"Division of Emerging Interdisciplinary Areas, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026569510","display_name":"Zhenmin Huang","orcid":"https://orcid.org/0000-0001-7295-4653"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhenmin Huang","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","Division of Emerging Interdisciplinary Areas, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]},{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]},{"raw_affiliation_string":"Division of Emerging Interdisciplinary Areas, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106485250","display_name":"Jianghua Duan","orcid":"https://orcid.org/0009-0005-2271-8253"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jianghua Duan","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Department of Mechanical and Aerospace Engineering,Hong Kong SAR, China","Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Department of Mechanical and Aerospace Engineering,Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053340150","display_name":"Jun Ma","orcid":"https://orcid.org/0000-0002-9405-8232"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I4210096887","display_name":"HKUST Shenzhen Research Institute","ror":"https://ror.org/00sz56h79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I200769079","https://openalex.org/I20231570","https://openalex.org/I4210096887","https://openalex.org/I4210147811"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Jun Ma","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","Division of Emerging Interdisciplinary Areas, The Hong Kong University of Science and Technology, Hong Kong SAR, China","HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Shenzhen, China","Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China","institution_ids":[]},{"raw_affiliation_string":"Division of Emerging Interdisciplinary Areas, The Hong Kong University of Science and Technology, Hong Kong SAR, China","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I4210096887"]},{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100782481"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9106,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.856943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9986000061035156,"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/overtaking","display_name":"Overtaking","score":0.8740600347518921},{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.8073259592056274},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.712753415107727},{"id":"https://openalex.org/keywords/roundabout","display_name":"Roundabout","score":0.6407341957092285},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6364890336990356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5464741587638855},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5280288457870483},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5085200071334839},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48934048414230347},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4223894476890564},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4138796329498291},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36332938075065613},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33116644620895386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24773532152175903},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.24151316285133362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08613470196723938}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.8740600347518921},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.8073259592056274},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.712753415107727},{"id":"https://openalex.org/C109157449","wikidata":"https://www.wikidata.org/wiki/Q7371221","display_name":"Roundabout","level":2,"score":0.6407341957092285},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6364890336990356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5464741587638855},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5280288457870483},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5085200071334839},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48934048414230347},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4223894476890564},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4138796329498291},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36332938075065613},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33116644620895386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24773532152175903},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.24151316285133362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08613470196723938},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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":2,"locations":[{"id":"doi:10.1109/robio58561.2023.10354858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio58561.2023.10354858","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-135655","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-135655","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320326279","display_name":"Department of Education of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2524886531","https://openalex.org/W2562163136","https://openalex.org/W2842089854","https://openalex.org/W2908972399","https://openalex.org/W2922689720","https://openalex.org/W2969797347","https://openalex.org/W2972644282","https://openalex.org/W2990123902","https://openalex.org/W3045543478","https://openalex.org/W3172863135","https://openalex.org/W3181376804","https://openalex.org/W3201745857","https://openalex.org/W4224216677","https://openalex.org/W4225390809","https://openalex.org/W4226245271","https://openalex.org/W4285071855","https://openalex.org/W4287617987","https://openalex.org/W4293812004","https://openalex.org/W4312991124","https://openalex.org/W4317383348","https://openalex.org/W4382998910","https://openalex.org/W6745935785"],"related_works":["https://openalex.org/W2093826578","https://openalex.org/W4294237266","https://openalex.org/W3084163143","https://openalex.org/W3198453306","https://openalex.org/W3081587374","https://openalex.org/W591161629","https://openalex.org/W3195565206","https://openalex.org/W647040144","https://openalex.org/W2119434388","https://openalex.org/W1873406412"],"abstract_inverted_index":{"In":[0,80],"this":[1,81],"article,":[2],"we":[3],"propose":[4],"an":[5,16,41,94],"optimization-based":[6],"integrated":[7,95,114],"behavior":[8,84,115],"planning":[9,85,116],"and":[10,18,60,117,128,145,148,175],"motion":[11,91,118],"control":[12,77,92,119],"scheme,":[13,112],"which":[14],"is":[15,48,86,121,166],"interpretable":[17],"adaptable":[19],"urban":[20,125],"autonomous":[21],"driving":[22,32,126],"solution":[23],"that":[24,168],"complies":[25],"with":[26,38,90,100,137,160],"complex":[27],"traffic":[28,39,53,57,62],"rules":[29,54],"while":[30],"ensuring":[31],"safety.":[33],"Inherently,":[34],"to":[35,50,56,104,130],"ensure":[36],"compliance":[37],"rules,":[40],"innovative":[42],"design":[43],"of":[44,73,109,150,158],"potential":[45],"functions":[46],"(PFs)":[47],"presented":[49],"characterize":[51],"various":[52,124],"related":[55],"lights,":[58],"traversable":[59],"non-traversable":[61],"line":[63],"markings,":[64],"etc.":[65],"These":[66],"PFs":[67],"are":[68],"further":[69],"incorporated":[70],"as":[71,93,135],"part":[72],"the":[74,105,110,143,151,169],"model":[75],"predictive":[76],"(MPC)":[78],"formulation.":[79],"sense,":[82],"high-level":[83],"attained":[87],"implicitly":[88],"along":[89],"architecture,":[96],"facilitating":[97],"flexible":[98],"maneuvers":[99],"safety":[101],"guarantees.":[102],"Due":[103],"well-designed":[106],"objective":[107],"function":[108],"MPC":[111],"our":[113],"scheme":[120],"competent":[122],"for":[123],"scenarios":[127,162],"able":[129],"generate":[131],"versatile":[132],"behaviors,":[133],"such":[134],"overtaking":[136],"adaptive":[138],"cruise":[139],"control,":[140],"turning":[141],"in":[142,147,163],"intersection,":[144],"merging":[146],"out":[149],"roundabout.":[152],"As":[153],"demonstrated":[154],"from":[155],"a":[156],"series":[157],"simulations":[159],"challenging":[161],"CARLA,":[164],"it":[165],"noteworthy":[167],"proposed":[170],"framework":[171],"admits":[172],"real-time":[173],"performance":[174],"high":[176],"generalizability.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-18T08:16:58.900851","created_date":"2025-10-10T00:00:00"}
