{"id":"https://openalex.org/W4408222710","doi":"https://doi.org/10.1109/robio64047.2024.10907482","title":"Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Driving","display_name":"Enhance Planning with Physics-informed Safety Controller for End-to-end Autonomous Driving","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408222710","doi":"https://doi.org/10.1109/robio64047.2024.10907482"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101192383","display_name":"Hang Zhou","orcid":null},"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/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hang Zhou","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust, Systems Hub,Guangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust, Systems Hub,Guangzhou,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100782481","display_name":"Haichao Liu","orcid":"https://orcid.org/0009-0006-2311-7094"},"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/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Haichao Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust, Systems Hub,Guangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust, Systems Hub,Guangzhou,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096099634","display_name":"Hongliang Lu","orcid":null},"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":"Hongliang Lu","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Intelligent Transportation Thrust, Systems Hub,Guangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Intelligent Transportation Thrust, Systems Hub,Guangzhou,China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","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/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["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, Systems Hub,Guangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust, Systems Hub,Guangzhou,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5096043414","display_name":"Yiding Ji","orcid":null},"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/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yiding Ji","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust, Systems Hub,Guangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust, Systems Hub,Guangzhou,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1775","last_page":"1782"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9977999925613403,"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":0.9977999925613403,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9818999767303467,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9617000222206116,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.761279821395874},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47754156589508057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42577311396598816},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.367554247379303},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32914191484451294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3172382712364197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.129075825214386},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07889258861541748}],"concepts":[{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.761279821395874},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47754156589508057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42577311396598816},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.367554247379303},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32914191484451294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3172382712364197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.129075825214386},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07889258861541748},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio64047.2024.10907482","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907482","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-161770","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-161770","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":[{"id":"https://metadata.un.org/sdg/7","score":0.46000000834465027,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1630475508","display_name":null,"funder_award_id":"2023A03J0678,2023A03J0011,2024A03J0618,2024A03J0680","funder_id":"https://openalex.org/F4320323537","funder_display_name":"Hong Kong University of Science and Technology"},{"id":"https://openalex.org/G6558447065","display_name":null,"funder_award_id":"62303389,62373289","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7434012164","display_name":null,"funder_award_id":"2022A151511076,2024A1515012586","funder_id":"https://openalex.org/F4320334984","funder_display_name":"Applied Basic Research Key Project of Yunnan"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323537","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597"},{"id":"https://openalex.org/F4320334984","display_name":"Applied Basic Research Key Project of Yunnan","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2085277206","https://openalex.org/W2119112357","https://openalex.org/W2177274602","https://openalex.org/W2194775991","https://openalex.org/W2524886531","https://openalex.org/W2783963507","https://openalex.org/W2950635152","https://openalex.org/W2953303875","https://openalex.org/W2962894046","https://openalex.org/W2968296999","https://openalex.org/W2968945909","https://openalex.org/W3009593063","https://openalex.org/W3011462663","https://openalex.org/W3096609285","https://openalex.org/W3172863135","https://openalex.org/W3193987867","https://openalex.org/W3205373118","https://openalex.org/W3206486597","https://openalex.org/W3206704105","https://openalex.org/W3212409086","https://openalex.org/W4214759451","https://openalex.org/W4285071855","https://openalex.org/W4292347911","https://openalex.org/W4312862130","https://openalex.org/W4381198967","https://openalex.org/W4388903822","https://openalex.org/W4390099569","https://openalex.org/W4390872706","https://openalex.org/W4391407153","https://openalex.org/W4400648084","https://openalex.org/W6728622933","https://openalex.org/W6745935785","https://openalex.org/W6772033386","https://openalex.org/W6789753369","https://openalex.org/W6839043673","https://openalex.org/W6841094356","https://openalex.org/W6845636941"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Recent":[0],"years":[1,28],"have":[2,59],"seen":[3],"a":[4,26,84],"growing":[5],"research":[6],"interest":[7],"in":[8,61,117],"applications":[9],"of":[10,43,54,109,131],"Deep":[11,55],"Neural":[12],"Networks":[13],"(DNN)":[14],"on":[15,65,142],"autonomous":[16],"vehicle":[17],"technology.":[18],"The":[19,129],"trend":[20],"started":[21],"with":[22],"perception":[23],"and":[24,30,69,121],"prediction":[25],"few":[27],"ago":[29],"it":[31],"is":[32,107,134],"gradually":[33],"being":[34],"applied":[35],"to":[36,127],"motion":[37],"planning":[38],"tasks.":[39],"Despite":[40],"the":[41,51,66,118,132,143],"performance":[42,71],"networks":[44],"improve":[45],"over":[46],"time,":[47],"DNN":[48],"planners":[49,58],"inherit":[50],"natural":[52],"drawbacks":[53],"Learning.":[56],"Learning-based":[57],"limitations":[60],"achieving":[62],"perfect":[63],"accuracy":[64],"training":[67,119],"dataset":[68,120],"network":[70,125],"can":[72],"be":[73],"affected":[74],"by":[75,136],"out-of-distribution":[76],"problem.":[77],"In":[78],"this":[79],"paper,":[80],"we":[81],"propose":[82],"FusionAssurance,":[83],"novel":[85],"trajectory-based":[86],"end-to-end":[87],"driving":[88],"fusion":[89],"framework":[90],"which":[91],"combines":[92],"physics-informed":[93],"control":[94],"for":[95],"safety":[96],"assurance.":[97],"By":[98],"incorporating":[99],"Potential":[100],"Field":[101],"into":[102],"Model":[103],"Predictive":[104],"Control,":[105],"FusionAssurance":[106],"capable":[108],"navigating":[110],"through":[111],"scenarios":[112,122,141],"that":[113],"are":[114],"not":[115],"included":[116],"where":[123],"neural":[124],"fail":[126],"generalize.":[128],"effectiveness":[130],"approach":[133],"demonstrated":[135],"extensive":[137],"experiments":[138],"under":[139],"various":[140],"CARLA":[144],"benchmark.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}