{"id":"https://openalex.org/W3207572298","doi":"https://doi.org/10.1109/tits.2021.3116666","title":"Optimal Trajectory Planning of Connected and Automated Vehicles at On-Ramp Merging Area","display_name":"Optimal Trajectory Planning of Connected and Automated Vehicles at On-Ramp Merging Area","publication_year":2021,"publication_date":"2021-10-10","ids":{"openalex":"https://openalex.org/W3207572298","doi":"https://doi.org/10.1109/tits.2021.3116666","mag":"3207572298"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2021.3116666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3116666","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/A5060738360","display_name":"Zhibo Gao","orcid":"https://orcid.org/0000-0002-6692-4893"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhibo Gao","raw_affiliation_strings":["Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6692-4893","affiliations":[{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074932292","display_name":"Zhizhou Wu","orcid":"https://orcid.org/0000-0002-7655-4216"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhizhou Wu","raw_affiliation_strings":["Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7655-4216","affiliations":[{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043011100","display_name":"Wei Hao","orcid":"https://orcid.org/0000-0002-9301-8765"},"institutions":[{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Hao","raw_affiliation_strings":["School of Traffic and Transportation Engineering, Changsha University of Science of Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-9301-8765","affiliations":[{"raw_affiliation_string":"School of Traffic and Transportation Engineering, Changsha University of Science of Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079743152","display_name":"Keke Long","orcid":"https://orcid.org/0000-0002-6887-6135"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keke Long","raw_affiliation_strings":["Hunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure System, Changsha University of Science and Technology, Changsha, China","Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6887-6135","affiliations":[{"raw_affiliation_string":"Hunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure System, Changsha University of Science and Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997"]},{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058026132","display_name":"Young-Ji Byon","orcid":null},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Young-Ji Byon","raw_affiliation_strings":["Department of Civil Infrastructure and Environmental Engineering, Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0003-1209-1803","affiliations":[{"raw_affiliation_string":"Department of Civil Infrastructure and Environmental Engineering, Khalifa University of Science and Technology, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049594816","display_name":"Kejun Long","orcid":"https://orcid.org/0000-0001-5968-1865"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I56934997","display_name":"Changsha University of Science and Technology","ror":"https://ror.org/03yph8055","country_code":"CN","type":"education","lineage":["https://openalex.org/I56934997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kejun Long","raw_affiliation_strings":["Hunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure System, Changsha University of Science and Technology, Changsha, China","Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5968-1865","affiliations":[{"raw_affiliation_string":"Hunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure System, Changsha University of Science and Technology, Changsha, China","institution_ids":["https://openalex.org/I56934997"]},{"raw_affiliation_string":"Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5060738360"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":4.302,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.9475789,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"23","issue":"8","first_page":"12675","last_page":"12687"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":1.0,"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":1.0,"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/T10698","display_name":"Transportation Planning and Optimization","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/cooperative-adaptive-cruise-control","display_name":"Cooperative Adaptive Cruise Control","score":0.9491026997566223},{"id":"https://openalex.org/keywords/platoon","display_name":"Platoon","score":0.8520736694335938},{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.6527011394500732},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6252090334892273},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5924893021583557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49271705746650696},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4756474196910858},{"id":"https://openalex.org/keywords/traffic-flow","display_name":"Traffic flow (computer networking)","score":0.4580930173397064},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44260311126708984},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43042999505996704},{"id":"https://openalex.org/keywords/fuel-efficiency","display_name":"Fuel efficiency","score":0.4231146275997162},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4182612895965576},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39921998977661133},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3491455912590027},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3322374224662781},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20378920435905457},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.12919068336486816}],"concepts":[{"id":"https://openalex.org/C2780150632","wikidata":"https://www.wikidata.org/wiki/Q5167872","display_name":"Cooperative Adaptive Cruise Control","level":4,"score":0.9491026997566223},{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.8520736694335938},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.6527011394500732},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6252090334892273},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5924893021583557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49271705746650696},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4756474196910858},{"id":"https://openalex.org/C207512268","wikidata":"https://www.wikidata.org/wiki/Q3074551","display_name":"Traffic flow (computer networking)","level":2,"score":0.4580930173397064},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44260311126708984},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43042999505996704},{"id":"https://openalex.org/C45882903","wikidata":"https://www.wikidata.org/wiki/Q5042317","display_name":"Fuel efficiency","level":2,"score":0.4231146275997162},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4182612895965576},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39921998977661133},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3491455912590027},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3322374224662781},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20378920435905457},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.12919068336486816},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2021.3116666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3116666","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":[{"display_name":"Affordable and clean energy","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G154053583","display_name":null,"funder_award_id":"61773288","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3029625853","display_name":null,"funder_award_id":"52172330","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4621487074","display_name":null,"funder_award_id":"2020SK2098","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"},{"id":"https://openalex.org/G8044900251","display_name":null,"funder_award_id":"52172339","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8919761916","display_name":null,"funder_award_id":"52172313","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/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1096769813","https://openalex.org/W1943233115","https://openalex.org/W1958214404","https://openalex.org/W1966808004","https://openalex.org/W1972711079","https://openalex.org/W1980037746","https://openalex.org/W1995932911","https://openalex.org/W2003215771","https://openalex.org/W2063059576","https://openalex.org/W2084952317","https://openalex.org/W2089177739","https://openalex.org/W2099304584","https://openalex.org/W2100488636","https://openalex.org/W2102650063","https://openalex.org/W2107345353","https://openalex.org/W2161408559","https://openalex.org/W2164902667","https://openalex.org/W2166448956","https://openalex.org/W2178213869","https://openalex.org/W2194672316","https://openalex.org/W2384016072","https://openalex.org/W2515191420","https://openalex.org/W2529546888","https://openalex.org/W2537764407","https://openalex.org/W2581478122","https://openalex.org/W2624755238","https://openalex.org/W2768952159","https://openalex.org/W2796709586","https://openalex.org/W2800510943","https://openalex.org/W2884915450","https://openalex.org/W2897432174","https://openalex.org/W2899684168","https://openalex.org/W2916231201","https://openalex.org/W2942827066","https://openalex.org/W2959805453","https://openalex.org/W2963135764","https://openalex.org/W2963593929","https://openalex.org/W2970413670","https://openalex.org/W2987945402","https://openalex.org/W2998560579","https://openalex.org/W3095178077","https://openalex.org/W3098611722","https://openalex.org/W3122026853","https://openalex.org/W7052848966"],"related_works":["https://openalex.org/W1897525030","https://openalex.org/W3057022467","https://openalex.org/W2742498958","https://openalex.org/W4388562327","https://openalex.org/W3040047937","https://openalex.org/W2997150968","https://openalex.org/W4292566739","https://openalex.org/W3111447646","https://openalex.org/W4236771224","https://openalex.org/W2323976619"],"abstract_inverted_index":{"Cooperative":[0],"Adaptive":[1,51],"Cruise":[2,52],"Control":[3,53],"(CACC)":[4],"systems":[5],"can":[6],"significantly":[7],"improve":[8,195],"traffic":[9,197,245],"safety":[10,198],"and":[11,42,77,87,112,137,162,180,203,220],"roadway":[12],"capacity":[13,65],"utilizing":[14],"short":[15],"following":[16],"gaps":[17],"of":[18,94,103,134,139,169,242],"vehicles":[19,136],"enabled":[20],"by":[21],"inter-vehicle":[22],"communications.":[23],"However,":[24],"due":[25],"to":[26,47,50,81,109,113,118,152,163,194],"merging":[27,32,135,140],"processes":[28],"occurring":[29],"at":[30,175],"freeway":[31,223],"areas,":[33],"existing":[34],"CACC":[35,96],"operation":[36,44],"approaches":[37],"are":[38,173],"generally":[39],"not":[40],"applicable":[41],"the":[43,95,154,170,184,188,192,196,234],"will":[45,61],"have":[46,231],"revert":[48],"back":[49],"(ACC)":[54],"or":[55],"human-driven":[56],"mode,":[57],"which":[58,105],"in":[59,63,240,244],"turn":[60],"result":[62],"a":[64,91,100,146,157,211,221],"drop.":[66],"This":[67],"paper":[68],"proposes":[69],"an":[70,127,214],"optimal":[71,128],"trajectory":[72],"optimization":[73],"strategy":[74],"for":[75,99],"Connected":[76],"Automated":[78],"Vehicles":[79],"(CAVs)":[80],"cooperatively":[82],"carry":[83],"out":[84],"mainline":[85],"platooning":[86],"on-ramp":[88,224],"merging.":[89],"Firstly,":[90],"control":[92,102],"framework":[93],"is":[97,143,150,218,226],"adopted":[98],"longitudinal":[101],"CAVs,":[104],"helps":[106],"individual":[107,177,185],"CAVs":[108],"join":[110],"platoons":[111],"maintain":[114],"platoon":[115],"operations.":[116,246],"Secondly,":[117],"ensure":[119],"smooth":[120],"lane-changing":[121,132],"executions":[122],"while":[123],"achieving":[124],"stable":[125],"platoons,":[126,142],"controller":[129,155,236],"that":[130,233],"considers":[131],"motivation":[133],"impact":[138],"on":[141],"proposed.":[144],"Third,":[145],"Legendre":[147],"pseudo-spectral":[148],"algorithm":[149],"applied":[151],"transform":[153],"into":[156],"simpler":[158],"nonlinear":[159],"programming":[160],"problem":[161],"efficiently":[164],"solve":[165],"it.":[166],"Simulation":[167],"assessments":[168],"proposed":[171,189,235],"method":[172,190],"conducted":[174],"both":[176],"vehicle":[178,186],"level":[179],"traffic-flow":[181,212],"level.":[182],"At":[183,210],"level,":[187,213],"has":[191],"potential":[193],"without":[199],"compromising":[200],"fuel":[201],"consumption":[202],"emissions":[204],"compared":[205],"with":[206],"unoptimized":[207],"feasible":[208],"schemes.":[209],"online":[215],"evaluation":[216],"platform":[217],"implemented,":[219],"typical":[222],"area":[225],"studied.":[227],"The":[228],"simulation":[229],"results":[230],"demonstrated":[232],"provides":[237],"significant":[238],"improvements":[239],"terms":[241],"efficiencies":[243]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":5}],"updated_date":"2026-05-10T08:33:47.465468","created_date":"2025-10-10T00:00:00"}