{"id":"https://openalex.org/W2782393959","doi":"https://doi.org/10.1109/tits.2017.2756099","title":"Hierarchical Trajectory Planning of an Autonomous Car Based on the Integration of a Sampling and an Optimization Method","display_name":"Hierarchical Trajectory Planning of an Autonomous Car Based on the Integration of a Sampling and an Optimization Method","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2782393959","doi":"https://doi.org/10.1109/tits.2017.2756099","mag":"2782393959"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2017.2756099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2756099","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5005917462","display_name":"Wontaek Lim","orcid":"https://orcid.org/0000-0002-7195-3349"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonteak Lim","raw_affiliation_strings":["Department of Automotive Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7195-3349","affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007913489","display_name":"Seongjin Lee","orcid":"https://orcid.org/0000-0001-8278-5742"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongjin Lee","raw_affiliation_strings":["Department of Automotive Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054452311","display_name":"Myoungho Sunwoo","orcid":"https://orcid.org/0000-0002-3505-6675"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myoungho Sunwoo","raw_affiliation_strings":["Department of Automotive Engineering, Hanyang University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-3505-6675","affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039992666","display_name":"Kichun Jo","orcid":"https://orcid.org/0000-0003-0543-2198"},"institutions":[{"id":"https://openalex.org/I220619192","display_name":"Valeo (France)","ror":"https://ror.org/04ryqpf83","country_code":"FR","type":"company","lineage":["https://openalex.org/I220619192"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Kichun Jo","raw_affiliation_strings":["Valeo Driving Assistance Research, Bobigny, France"],"raw_orcid":"https://orcid.org/0000-0003-0543-2198","affiliations":[{"raw_affiliation_string":"Valeo Driving Assistance Research, Bobigny, France","institution_ids":["https://openalex.org/I220619192"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.2657,"has_fulltext":false,"cited_by_count":254,"citation_normalized_percentile":{"value":0.98915254,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"19","issue":"2","first_page":"613","last_page":"626"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10524","display_name":"Traffic control and management","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8784579038619995},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6220629811286926},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6069726347923279},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5783951282501221},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.47894078493118286},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4521976113319397},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43570268154144287},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4272921681404114},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.42498868703842163},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.4190962016582489},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4113997519016266},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.31936532258987427},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2966502904891968},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2534787654876709},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2065463662147522},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20573189854621887},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.12161800265312195},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06422069668769836}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8784579038619995},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6220629811286926},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6069726347923279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5783951282501221},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.47894078493118286},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4521976113319397},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43570268154144287},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4272921681404114},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.42498868703842163},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.4190962016582489},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4113997519016266},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.31936532258987427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2966502904891968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2534787654876709},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2065463662147522},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20573189854621887},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.12161800265312195},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06422069668769836},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"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/tits.2017.2756099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2756099","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1507290626","https://openalex.org/W1521785144","https://openalex.org/W1544016679","https://openalex.org/W1858801711","https://openalex.org/W1909409362","https://openalex.org/W1977992720","https://openalex.org/W1989185123","https://openalex.org/W2004815408","https://openalex.org/W2011053498","https://openalex.org/W2012531858","https://openalex.org/W2013864768","https://openalex.org/W2023128648","https://openalex.org/W2032325911","https://openalex.org/W2055207897","https://openalex.org/W2055404495","https://openalex.org/W2066716837","https://openalex.org/W2087366641","https://openalex.org/W2091392553","https://openalex.org/W2095593770","https://openalex.org/W2107656445","https://openalex.org/W2110006698","https://openalex.org/W2112921976","https://openalex.org/W2121806728","https://openalex.org/W2132592545","https://openalex.org/W2134765105","https://openalex.org/W2139137304","https://openalex.org/W2144293566","https://openalex.org/W2147224017","https://openalex.org/W2148361676","https://openalex.org/W2154844948","https://openalex.org/W2164053801","https://openalex.org/W2180111246","https://openalex.org/W2293313346","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2406067508","https://openalex.org/W2985516850","https://openalex.org/W4241229097","https://openalex.org/W4293682399","https://openalex.org/W6638788390","https://openalex.org/W6679744036"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W136674370","https://openalex.org/W2909957174","https://openalex.org/W4388726836","https://openalex.org/W2153809277","https://openalex.org/W2015961810","https://openalex.org/W2003479292","https://openalex.org/W3135469233"],"abstract_inverted_index":{"This":[0,56],"paper":[1],"presents":[2],"a":[3,12,24,84,183],"hierarchical":[4],"trajectory":[5,31,36,67,104,109,117,171,214],"planning":[6,70,118,140],"based":[7,110],"on":[8,111],"the":[9,28,34,39,65,71,74,92,98,107,112,115,120,131,135,139,143,153,156,160,165,169,173,187,191,201,208],"integration":[10],"of":[11,41,83,91,97,114,134,142,152,155,159,182,190,207,222],"sampling":[13],"and":[14,54,61,95,194,211],"an":[15,42,223],"optimization":[16,158,175],"method":[17],"for":[18,88,150,186],"urban":[19,224],"autonomous":[20,43],"driving.":[21],"To":[22],"manage":[23],"complex":[25],"driving":[26,93,192],"environment,":[27],"upper":[29,116],"behavioral":[30,72,136,210],"planner":[32,57,105,125,145,162],"searches":[33],"macro-scale":[35],"to":[37,64,80,163,179,197],"determine":[38],"behavior":[40,60,133],"car":[44],"by":[45],"using":[46],"environment":[47,121],"models,":[48],"such":[49],"as":[50],"traffic":[51],"control":[52],"device":[53],"objects.":[55],"infers":[58],"reasonable":[59],"provides":[62],"it":[63],"motion":[66,103,170,213],"planner.":[68],"For":[69,168],"trajectory,":[73],"sampling-based":[75,209],"approach":[76],"is":[77,176],"used":[78],"due":[79,178],"its":[81,180],"advantage":[82],"free-form":[85],"cost":[86],"function":[87],"discrete":[89],"models":[90],"environments":[94,193],"simplification":[96],"searching":[99],"area.":[100,225],"The":[101,123,204],"lower":[102,124,144,161],"determines":[106],"micro-scale":[108],"results":[113],"with":[119],"model.":[122],"strongly":[126],"considers":[127],"vehicle":[128],"dynamics":[129],"within":[130],"planned":[132],"trajectory.":[137,167],"Therefore,":[138],"space":[141],"can":[146],"be":[147],"limited,":[148],"allowing":[149],"improvement":[151],"efficiency":[154],"numerical":[157,174],"find":[164],"best":[166],"planning,":[172],"applied":[177],"advantages":[181],"mathematical":[184],"model":[185],"continuous":[188],"elements":[189],"low":[195],"computation":[196],"converge":[198],"minima":[199],"in":[200,219],"convex":[202],"function.":[203],"proposed":[205],"algorithms":[206],"optimization-based":[212],"were":[215],"evaluated":[216],"through":[217],"experiments":[218],"various":[220],"scenarios":[221]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":33},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":41},{"year":2022,"cited_by_count":46},{"year":2021,"cited_by_count":39},{"year":2020,"cited_by_count":28},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":8}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}