{"id":"https://openalex.org/W7131409013","doi":"https://doi.org/10.1109/tcst.2026.3657870","title":"Safe Lane-Keeping With Control Barrier Functions: From Theory to Practical Implementation","display_name":"Safe Lane-Keeping With Control Barrier Functions: From Theory to Practical Implementation","publication_year":2026,"publication_date":"2026-02-25","ids":{"openalex":"https://openalex.org/W7131409013","doi":"https://doi.org/10.1109/tcst.2026.3657870"},"language":null,"primary_location":{"id":"doi:10.1109/tcst.2026.3657870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2026.3657870","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5018625439","display_name":"Ill\u00e9s V\u00f6r\u00f6s","orcid":"https://orcid.org/0000-0002-7357-5257"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ill\u00e9s V\u00f6r\u00f6s","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-7357-5257","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111351845","display_name":"Chenhuan Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chenhuan Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111351846","display_name":"Hanyu Gan","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanyu Gan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073544503","display_name":"D\u00e9nes Tak\u00e1cs","orcid":"https://orcid.org/0000-0003-1226-8613"},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"D\u00e9nes Tak\u00e1cs","raw_affiliation_strings":["Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, Hungary"],"raw_orcid":"https://orcid.org/0000-0003-1226-8613","affiliations":[{"raw_affiliation_string":"Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, Hungary","institution_ids":["https://openalex.org/I29770179"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075955055","display_name":"Xiao Li","orcid":"https://orcid.org/0000-0002-1032-5533"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiao Li","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-1032-5533","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126806458","display_name":"Ilya Kolmanovsky","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ilya Kolmanovsky","raw_affiliation_strings":["Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-7225-4160","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070308465","display_name":"John M. Talbot","orcid":"https://orcid.org/0000-0001-7021-1995"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I917207718","display_name":"Toyota Industries (United States)","ror":"https://ror.org/0132ebr60","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315","https://openalex.org/I917207718"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Talbot","raw_affiliation_strings":["Toyota Research Institute, Los Altos, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7021-1995","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, CA, USA","institution_ids":["https://openalex.org/I917207718","https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071952354","display_name":"James Dallas","orcid":"https://orcid.org/0000-0001-9109-1857"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I917207718","display_name":"Toyota Industries (United States)","ror":"https://ror.org/0132ebr60","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315","https://openalex.org/I917207718"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Dallas","raw_affiliation_strings":["Toyota Research Institute, Los Altos, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9109-1857","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, CA, USA","institution_ids":["https://openalex.org/I917207718","https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075929914","display_name":"John Subosits","orcid":"https://orcid.org/0000-0002-8453-8283"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I917207718","display_name":"Toyota Industries (United States)","ror":"https://ror.org/0132ebr60","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315","https://openalex.org/I917207718"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Subosits","raw_affiliation_strings":["Toyota Research Institute, Los Altos, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8453-8283","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, CA, USA","institution_ids":["https://openalex.org/I917207718","https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126835446","display_name":"G\u00e1bor Orosz","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G\u00e1bor Orosz","raw_affiliation_strings":["Department of Mechanical Engineering, Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9000-3736","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18870185,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"34","issue":"3","first_page":"1162","last_page":"1176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.45579999685287476,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.45579999685287476,"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":0.1598999947309494,"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":0.11020000278949738,"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/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5983999967575073},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5612000226974487},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5437999963760376},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.45579999685287476},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44519999623298645},{"id":"https://openalex.org/keywords/system-safety","display_name":"System safety","score":0.400299996137619},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.35109999775886536},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34310001134872437}],"concepts":[{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5983999967575073},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5612000226974487},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5437999963760376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5098000168800354},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46549999713897705},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.45579999685287476},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44519999623298645},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.400299996137619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38190001249313354},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34310001134872437},{"id":"https://openalex.org/C22597639","wikidata":"https://www.wikidata.org/wiki/Q5449227","display_name":"Filter design","level":3,"score":0.34200000762939453},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C2986542766","wikidata":"https://www.wikidata.org/wiki/Q2090494","display_name":"Vehicle safety","level":2,"score":0.33809998631477356},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.3375000059604645},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3366999924182892},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3310999870300293},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.31130000948905945},{"id":"https://openalex.org/C2993100942","wikidata":"https://www.wikidata.org/wiki/Q3231690","display_name":"Car model","level":2,"score":0.2969000041484833},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.2955000102519989},{"id":"https://openalex.org/C148381915","wikidata":"https://www.wikidata.org/wiki/Q870020","display_name":"Automobile handling","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27379998564720154},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2026.3657870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2026.3657870","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7127256274","display_name":null,"funder_award_id":"NKFI-146201","funder_id":"https://openalex.org/F4320326762","funder_display_name":"Nemzeti Kutat\u00e1si Fejleszt\u00e9si \u00e9s Innov\u00e1ci\u00f3s Hivatal"}],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320316948","display_name":"Rosztoczy Foundation","ror":null},{"id":"https://openalex.org/F4320326762","display_name":"Nemzeti Kutat\u00e1si Fejleszt\u00e9si \u00e9s Innov\u00e1ci\u00f3s Hivatal","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,33],"article":[1],"presents":[2],"the":[3,27,55,59,66,70,88,109,116,119,125,142,155],"design":[4,37,143],"and":[5,52,82,93,134,160],"analysis":[6],"of":[7,47,64,79,127,144,157],"a":[8,14,38,48,77,103,139],"safe":[9],"lane-keeping":[10,28,50],"controller":[11,51],"based":[12],"on":[13,45,102],"kinematic":[15],"single-track":[16],"vehicle":[17,56,72,105,117,132,151],"model.":[18],"A":[19],"control":[20],"barrier":[21],"function":[22],"(CBF)":[23],"is":[24,34,112],"derived":[25],"for":[26,141],"problem":[29],"using":[30,76],"geometrical":[31],"considerations.":[32],"used":[35,137],"to":[36,69,114,153],"safety":[39,67,110,128,156],"filter":[40,68,111],"that":[41,54,106,108],"can":[42,135],"be":[43,136],"applied":[44],"top":[46],"nominal":[49],"guarantees":[53],"remains":[57],"within":[58],"lane":[60,120],"boundaries.":[61,121],"The":[62,96,122],"effects":[63],"applying":[65],"controlled":[71],"are":[73,98],"thoroughly":[74],"analyzed":[75],"series":[78],"numerical":[80],"simulations":[81],"phase":[83],"portraits,":[84],"including":[85],"changes":[86],"in":[87,130],"global":[89],"dynamics,":[90],"passenger":[91],"comfort,":[92],"input":[94],"signals.":[95],"results":[97,123],"validated":[99],"with":[100],"experiments":[101],"test":[104],"verify":[107],"able":[113],"keep":[115],"inside":[118],"highlight":[124],"benefits":[126],"filters":[129],"lateral":[131],"control,":[133],"as":[138],"basis":[140],"more":[145],"complex":[146],"controllers":[147],"involving":[148],"higher":[149],"fidelity":[150],"models":[152],"enhance":[154],"both":[158],"human-driven":[159],"automated":[161],"vehicles":[162],"(AVs).":[163]},"counts_by_year":[],"updated_date":"2026-05-09T06:09:20.037420","created_date":"2026-02-26T00:00:00"}