{"id":"https://openalex.org/W3181117845","doi":"https://doi.org/10.1109/tits.2021.3093548","title":"A Unified Framework Integrating Decision Making and Trajectory Planning Based on Spatio-Temporal Voxels for Highway Autonomous Driving","display_name":"A Unified Framework Integrating Decision Making and Trajectory Planning Based on Spatio-Temporal Voxels for Highway Autonomous Driving","publication_year":2021,"publication_date":"2021-07-09","ids":{"openalex":"https://openalex.org/W3181117845","doi":"https://doi.org/10.1109/tits.2021.3093548","mag":"3181117845"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2021.3093548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3093548","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/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/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":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing, China","School of Automation, Nanjing University of Science and Technology, Nanjing, 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"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"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":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/A5035647314","display_name":"Xiaohui Tian","orcid":"https://orcid.org/0000-0002-0709-7875"},"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":"Xiaohui Tian","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":"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":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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4294,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.92625698,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"23","issue":"8","first_page":"10365","last_page":"10379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9993000030517578,"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/T11106","display_name":"Data Management and Algorithms","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/trajectory","display_name":"Trajectory","score":0.7683677673339844},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.6693127155303955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6233882904052734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4519205093383789},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43644118309020996},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3624500632286072},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.337552547454834},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.326652467250824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25178366899490356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1140756607055664}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7683677673339844},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.6693127155303955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6233882904052734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4519205093383789},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43644118309020996},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3624500632286072},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.337552547454834},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.326652467250824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25178366899490356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1140756607055664},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2021.3093548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3093548","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":0.44999998807907104,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1498681823","https://openalex.org/W1568248713","https://openalex.org/W1584040247","https://openalex.org/W1919962963","https://openalex.org/W1977085960","https://openalex.org/W2019550475","https://openalex.org/W2032924574","https://openalex.org/W2048980958","https://openalex.org/W2056027091","https://openalex.org/W2107338474","https://openalex.org/W2134765105","https://openalex.org/W2144293566","https://openalex.org/W2156676156","https://openalex.org/W2169528473","https://openalex.org/W2294480821","https://openalex.org/W2306644740","https://openalex.org/W2561432806","https://openalex.org/W2563616702","https://openalex.org/W2607296803","https://openalex.org/W2608775622","https://openalex.org/W2740067745","https://openalex.org/W2740957115","https://openalex.org/W2741086815","https://openalex.org/W2782393959","https://openalex.org/W2784715585","https://openalex.org/W2884559985","https://openalex.org/W2884634491","https://openalex.org/W2891315523","https://openalex.org/W2891491652","https://openalex.org/W2962963952","https://openalex.org/W2963215357","https://openalex.org/W2963369550","https://openalex.org/W2963898834","https://openalex.org/W2972399436","https://openalex.org/W3089736706","https://openalex.org/W3104946437","https://openalex.org/W6753596642"],"related_works":["https://openalex.org/W3027020613","https://openalex.org/W2016533837","https://openalex.org/W3167885074","https://openalex.org/W2892386716","https://openalex.org/W1998563493","https://openalex.org/W4306164210","https://openalex.org/W4313316311","https://openalex.org/W4362608745","https://openalex.org/W2383143032","https://openalex.org/W2082728368"],"abstract_inverted_index":{"Intelligent":[0],"decision":[1],"making":[2],"and":[3,38,56,68,76,182],"efficient":[4],"trajectory":[5,57,144],"planning":[6,36,41,58],"are":[7,81],"closely":[8],"related":[9],"in":[10,15,44,89,111,130,147,175],"autonomous":[11],"driving":[12,87],"technology,":[13],"especially":[14],"highway":[16,177],"environment":[17,66],"full":[18],"of":[19,86,97,113,184],"dynamic":[20,40,65,151],"interactive":[21],"traffic":[22],"participants.":[23],"This":[24],"work":[25],"integrates":[26],"them":[27],"into":[28],"a":[29,53,72,117,154],"unified":[30],"hierarchical":[31],"framework":[32],"with":[33,48,106],"long-term":[34],"behavior":[35],"(LTBP)":[37],"short-term":[39],"(STDP)":[42],"running":[43,160],"two":[45],"parallel":[46],"threads":[47],"different":[49,176],"horizon,":[50],"consequently":[51],"forming":[52],"closed-loop":[54],"maneuver":[55,105],"system":[59],"that":[60],"can":[61],"react":[62],"to":[63,138,149,167],"the":[64,77,84,94,104,126,142,150,180],"effectively":[67],"efficiently.":[69],"In":[70],"LTBP,":[71],"novel":[73],"voxel":[74,114],"structure":[75],"\u2018voxel":[78],"expansion\u2019":[79],"algorithm":[80],"proposed":[82],"for":[83,124,164],"generation":[85],"corridors":[88],"3D":[90],"configuration,":[91],"which":[92],"involves":[93],"prediction":[95],"states":[96],"surrounding":[98],"vehicles.":[99],"By":[100],"using":[101],"Dijkstra":[102],"search,":[103],"minimal":[107],"cost":[108],"is":[109,122,136],"determined":[110],"form":[112],"sequences,":[115],"then":[116],"quadratic":[118],"programming":[119],"(QP)":[120],"problem":[121,135],"constructed":[123],"solving":[125],"optimal":[127],"trajectory.":[128],"And":[129],"STDP,":[131],"another":[132],"small-scaled":[133],"QP":[134],"performed":[137],"track":[139],"or":[140],"adjust":[141],"reference":[143],"from":[145],"LTBP":[146],"response":[148],"obstacles.":[152],"Meanwhile,":[153],"Responsibility-Sensitive":[155],"Safety":[156],"(RSS)":[157],"Checker":[158],"keeps":[159],"at":[161],"high":[162],"frequency":[163],"real-time":[165],"feedback":[166],"ensure":[168],"security.":[169],"Experiments":[170],"on":[171],"real":[172],"data":[173],"collected":[174],"scenarios":[178],"demonstrate":[179],"effectiveness":[181],"efficiency":[183],"our":[185],"work.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}