{"id":"https://openalex.org/W4407948602","doi":"https://doi.org/10.1109/tase.2025.3542840","title":"Multi-Vehicle Collaborative Trajectory Planning Based on Kaldor-Hicks Improvement","display_name":"Multi-Vehicle Collaborative Trajectory Planning Based on Kaldor-Hicks Improvement","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407948602","doi":"https://doi.org/10.1109/tase.2025.3542840"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3542840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3542840","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5041579524","display_name":"Donglei Rong","orcid":"https://orcid.org/0000-0002-5788-7218"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Donglei Rong","raw_affiliation_strings":["Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China","College of Civil Engineering and Architecture, Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Civil Engineering and Architecture, Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080718178","display_name":"Wenbin Yao","orcid":"https://orcid.org/0000-0002-2830-102X"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbin Yao","raw_affiliation_strings":["School of Civil Engineering and Architecture, Zhejiang Sci-Tech University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Civil Engineering and Architecture, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039525196","display_name":"Chengcheng Yang","orcid":"https://orcid.org/0000-0001-8228-8607"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengcheng Yang","raw_affiliation_strings":["Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China","College of Civil Engineering and Architecture, Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Civil Engineering and Architecture, Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061741988","display_name":"Congcong Bai","orcid":"https://orcid.org/0000-0002-3986-5701"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Congcong Bai","raw_affiliation_strings":["Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China","College of Civil Engineering and Architecture, Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Civil Engineering and Architecture, Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101960327","display_name":"Sheng Jin","orcid":"https://orcid.org/0000-0001-6110-0783"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Jin","raw_affiliation_strings":["Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China","College of Civil Engineering and Architecture, Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"College of Civil Engineering and Architecture, Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5041579524"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.3688,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7767135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"12512","last_page":"12525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9779999852180481,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9732999801635742,"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/trajectory","display_name":"Trajectory","score":0.6798843741416931},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5136520266532898},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.42937517166137695},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.40768730640411377},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3426763713359833},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32230764627456665},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31597957015037537},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1366054117679596}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6798843741416931},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5136520266532898},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.42937517166137695},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.40768730640411377},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3426763713359833},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32230764627456665},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31597957015037537},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1366054117679596},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3542840","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3542840","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G363081215","display_name":null,"funder_award_id":"2023YFB4302600","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G419958781","display_name":null,"funder_award_id":"LR23E080002","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G6510882642","display_name":null,"funder_award_id":"72361137006","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G688764492","display_name":null,"funder_award_id":"2024BSSXM01","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1982438645","https://openalex.org/W2002102776","https://openalex.org/W2016501629","https://openalex.org/W2107338474","https://openalex.org/W2741777539","https://openalex.org/W2890208026","https://openalex.org/W2915182042","https://openalex.org/W2947106284","https://openalex.org/W2961490290","https://openalex.org/W3001592287","https://openalex.org/W3024382705","https://openalex.org/W3037638583","https://openalex.org/W3107376020","https://openalex.org/W3155017757","https://openalex.org/W3172705327","https://openalex.org/W4206826234","https://openalex.org/W4322632270","https://openalex.org/W4377290245","https://openalex.org/W4382935701","https://openalex.org/W4383066138","https://openalex.org/W4386698295","https://openalex.org/W4389065375","https://openalex.org/W4392939697","https://openalex.org/W4394862898","https://openalex.org/W4396945302","https://openalex.org/W4400780701","https://openalex.org/W4401537034","https://openalex.org/W4403094316","https://openalex.org/W4404514440","https://openalex.org/W4405361378","https://openalex.org/W6798925126"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670","https://openalex.org/W2139910871","https://openalex.org/W2119925415"],"abstract_inverted_index":{"This":[0],"paper":[1,86,194],"employs":[2],"lateral":[3],"and":[4,12,113,162,175,190,206,231],"longitudinal":[5],"trajectory":[6,28,60,97,142],"planning":[7,111],"to":[8,44,49,165,180,202,216,228],"generate":[9],"candidate":[10,38,59],"trajectories":[11],"discards":[13],"those":[14],"that":[15,47,102,133],"do":[16],"not":[17,146],"satisfy":[18],"the":[19,37,51,78,85,103,120,144,169,182,196],"constraints":[20,42],"imposed":[21],"by":[22,223],"single-vehicle":[23,67],"conditions.":[24,53],"Next,":[25],"a":[26,66,72,213],"collaborative":[27,96],"combination":[29],"set":[30,61],"for":[31,57,94],"multiple":[32],"vehicles":[33,132,201],"is":[34,62,82,115,177],"derived":[35],"from":[36],"trajectories,":[39],"with":[40,140],"multi-vehicle":[41,73,95],"applied":[43],"eliminate":[45],"combinations":[46],"fail":[48],"meet":[50],"required":[52],"The":[54,99],"objective":[55,68,74],"function":[56,75],"each":[58],"first":[63],"calculated":[64],"using":[65],"function,":[69],"after":[70],"which":[71],"based":[76],"on":[77],"Kaldor-Hicks":[79],"improvement":[80],"principle":[81],"constructed.":[83],"Finally,":[84,168],"introduces":[87],"an":[88],"improved":[89],"particle":[90],"swarm":[91],"optimization":[92,150],"method":[93],"planning.":[98],"results":[100,151],"demonstrate":[101],"dynamic":[104,159],"spatiotemporal":[105,160],"occupancy":[106,161],"growth":[107],"rate,":[108],"under":[109],"varying":[110],"times":[112],"frequencies,":[114],"at":[116],"least":[117],"19%.":[118],"Furthermore,":[119],"proposed":[121],"algorithm":[122,145],"ensures":[123],"efficient":[124],"allocation":[125],"of":[126,184,198],"travel":[127],"resources,":[128],"preventing":[129],"competition":[130],"among":[131],"could":[134],"compromise":[135],"system":[136],"feasibility.":[137],"When":[138],"verified":[139],"HighD":[141],"data,":[143],"only":[147],"delivers":[148],"superior":[149],"but":[152],"also":[153],"exhibits":[154],"lower":[155],"standard":[156],"deviations":[157],"in":[158,172,208,220],"speed":[163],"compared":[164],"real-world":[166],"data.":[167],"algorithm\u2019s":[170],"superiority":[171],"real-time":[173,209,225],"decision-making":[174],"stability":[176],"confirmed.":[178],"Note":[179],"Practitioners\u2014In":[181],"context":[183],"mixed":[185],"traffic":[186,204],"comprising":[187],"both":[188],"autonomous":[189,200],"human-driven":[191],"vehicles,":[192],"this":[193],"tackles":[195],"challenge":[197],"coordinating":[199],"improve":[203],"efficiency":[205,235],"safety":[207],"environments.":[210],"It":[211],"presents":[212],"promising":[214],"approach":[215],"enhancing":[217],"cooperative":[218],"behavior":[219],"complex":[221],"scenarios":[222],"integrating":[224],"data":[226],"streams":[227],"optimize":[229],"adaptability":[230],"ensure":[232],"equitable":[233],"driving":[234],"across":[236],"different":[237],"vehicle":[238],"types.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}