{"id":"https://openalex.org/W3086768141","doi":"https://doi.org/10.1109/tits.2020.3019514","title":"Trajectory Planning Based on Spatio-Temporal Map With Collision Avoidance Guaranteed by Safety Strip","display_name":"Trajectory Planning Based on Spatio-Temporal Map With Collision Avoidance Guaranteed by Safety Strip","publication_year":2020,"publication_date":"2020-09-09","ids":{"openalex":"https://openalex.org/W3086768141","doi":"https://doi.org/10.1109/tits.2020.3019514","mag":"3086768141"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2020.3019514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3019514","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/A5038062521","display_name":"Ting Zhang","orcid":"https://orcid.org/0000-0002-7014-4670"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Zhang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["School of Automation, Nanjing University of Science and Technology, Nanjing, China","State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029808668","display_name":"Wenjie Song","orcid":"https://orcid.org/0000-0002-4121-908X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Song","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4121-908X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3964-2433","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416064","display_name":"Meiling Wang","orcid":"https://orcid.org/0000-0002-3618-7423"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiling Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3618-7423","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9637,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.75328913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"23","issue":"2","first_page":"1030","last_page":"1043"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9988999962806702,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/collision-avoidance","display_name":"Collision avoidance","score":0.852431058883667},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6990331411361694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5174232721328735},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.48344072699546814},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4373071789741516},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42247137427330017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4074370265007019},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.15330129861831665},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10841724276542664},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10329839587211609}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.852431058883667},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6990331411361694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5174232721328735},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.48344072699546814},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4373071789741516},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42247137427330017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4074370265007019},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.15330129861831665},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10841724276542664},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10329839587211609},{"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.2020.3019514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3019514","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G206231915","display_name":null,"funder_award_id":"91120003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2217668812","display_name":null,"funder_award_id":"61903034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5448203614","display_name":null,"funder_award_id":"61973034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5583208626","display_name":null,"funder_award_id":"IRT-16R06","funder_id":"https://openalex.org/F4320338204","funder_display_name":"Program for Changjiang Scholars and Innovative Research Team in University"},{"id":"https://openalex.org/G6554935138","display_name":null,"funder_award_id":"T2014224","funder_id":"https://openalex.org/F4320338204","funder_display_name":"Program for Changjiang Scholars and Innovative Research Team in University"},{"id":"https://openalex.org/G6937405481","display_name":null,"funder_award_id":"2019TQ0035","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7914619715","display_name":null,"funder_award_id":"U1913203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320327514","display_name":"Beijing Institute of Technology Research Fund Program for Young Scholars","ror":null},{"id":"https://openalex.org/F4320338204","display_name":"Program for Changjiang Scholars and Innovative Research Team in University","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1604134956","https://openalex.org/W1763528081","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1971998222","https://openalex.org/W1977085960","https://openalex.org/W1993450261","https://openalex.org/W1996183429","https://openalex.org/W2005354226","https://openalex.org/W2014428146","https://openalex.org/W2071401582","https://openalex.org/W2076231474","https://openalex.org/W2128990851","https://openalex.org/W2134765105","https://openalex.org/W2144293566","https://openalex.org/W2146511219","https://openalex.org/W2148361676","https://openalex.org/W2153245297","https://openalex.org/W2169528473","https://openalex.org/W2306644740","https://openalex.org/W2309806808","https://openalex.org/W2313274380","https://openalex.org/W2343568200","https://openalex.org/W2396113684","https://openalex.org/W2500190800","https://openalex.org/W2515281348","https://openalex.org/W2561432806","https://openalex.org/W2563616702","https://openalex.org/W2607296803","https://openalex.org/W2740957115","https://openalex.org/W2755770938","https://openalex.org/W2772194428","https://openalex.org/W2782393959","https://openalex.org/W2784715585","https://openalex.org/W2884559985","https://openalex.org/W2885067519","https://openalex.org/W2891491652","https://openalex.org/W2949691147","https://openalex.org/W2955189650","https://openalex.org/W2960845037","https://openalex.org/W2962787639","https://openalex.org/W2962963952","https://openalex.org/W2963215357","https://openalex.org/W3102365391","https://openalex.org/W3104946437","https://openalex.org/W4293682399"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Trajectory":[0],"planning":[1,61],"for":[2,59],"the":[3,7,19,36,40,68,73,75,86,130,137,144,151,159,172,178,182,194,198,202,217],"unmanned":[4],"vehicle":[5],"in":[6,72,96,129],"complex":[8,226],"environment":[9],"has":[10],"always":[11],"been":[12],"a":[13,57,92,155],"challenging":[14],"task.":[15],"Planned":[16],"trajectory":[17,60,76,88,204],"with":[18,45,80],"corresponding":[20],"target":[21],"velocity":[22,81],"or":[23],"acceleration":[24,83],"sequence":[25],"must":[26],"be":[27,78,190],"collision-free":[28],"guaranteed":[29,101],"and":[30,43,82,85,99,114,212],"as":[31,33],"comfortable":[32],"possible":[34],"on":[35,63,208],"premise":[37],"of":[38,107,163,181,225],"obeying":[39],"traffic":[41,227],"rules":[42],"interaction":[44],"other":[46],"dynamic":[47],"social":[48],"vehicles.":[49],"To":[50],"meet":[51],"this":[52,54],"requirement,":[53],"paper":[55],"proposes":[56],"framework":[58,104,219],"based":[62],"spatio-temporal":[64],"map.":[65],"Due":[66],"to":[67,134,149,192,222],"time":[69,132],"layer":[70,133],"architecture":[71],"map,":[74],"can":[77,220],"generated":[79],"simultaneously,":[84],"whole":[87],"is":[89,105,147,176],"constrained":[90],"within":[91],"\u2018safety":[93],"strip\u2019,":[94],"resulting":[95],"an":[97,124,187],"efficient":[98],"safety":[100,115,173],"trajectory.":[102,157,184],"The":[103],"composed":[106],"three":[108],"sections:":[109],"rough":[110,120],"search,":[111,121],"fine":[112,142],"optimization":[113],"strip-based":[116],"collision":[117,199],"avoidance.":[118],"For":[119],"we":[122],"propose":[123],"improved":[125],"A*":[126],"algorithm":[127],"implemented":[128],"discrete":[131],"find":[135],"out":[136],"suboptimal":[138],"states":[139,153],"efficiently.":[140],"In":[141],"optimization,":[143],"B-spline":[145,164],"curve":[146],"exploited":[148],"connect":[150],"searched":[152],"into":[154,168],"continuous":[156],"And":[158],"optimal":[160],"control":[161],"points":[162],"are":[165],"further":[166],"grouped":[167],"several":[169],"segments,":[170],"forming":[171],"strip":[174,195],"which":[175],"actually":[177],"distribution":[179],"space":[180],"planned":[183],"If":[185],"necessary,":[186],"adjustment":[188],"will":[189],"applied":[191],"keep":[193],"away":[196],"from":[197],"zone,":[200],"making":[201],"entire":[203],"completely":[205],"collision-free.":[206],"Experiments":[207],"both":[209],"public":[210],"dataset":[211],"self-driving":[213],"simulator":[214],"show":[215],"that":[216],"proposed":[218],"adapt":[221],"different":[223],"kinds":[224],"scenes":[228],"well.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}