{"id":"https://openalex.org/W4210607981","doi":"https://doi.org/10.1109/tits.2022.3145389","title":"Autonomous Driving on Curvy Roads Without Reliance on Frenet Frame: A Cartesian-Based Trajectory Planning Method","display_name":"Autonomous Driving on Curvy Roads Without Reliance on Frenet Frame: A Cartesian-Based Trajectory Planning Method","publication_year":2022,"publication_date":"2022-02-03","ids":{"openalex":"https://openalex.org/W4210607981","doi":"https://doi.org/10.1109/tits.2022.3145389"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3145389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3145389","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/A5100608938","display_name":"Bai Li","orcid":"https://orcid.org/0000-0002-8966-8992"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Li","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-8966-8992","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072325655","display_name":"Yakun Ouyang","orcid":"https://orcid.org/0000-0002-2581-0451"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yakun Ouyang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-2581-0451","affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114911316","display_name":"Li Li","orcid":"https://orcid.org/0000-0002-9428-1960"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Li","raw_affiliation_strings":["Department of Automation, BNRist, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9428-1960","affiliations":[{"raw_affiliation_string":"Department of Automation, BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9731-5943","affiliations":[{"raw_affiliation_string":"Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.0948,"has_fulltext":false,"cited_by_count":163,"citation_normalized_percentile":{"value":0.99426085,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"23","issue":"9","first_page":"15729","last_page":"15741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9771000146865845,"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/frenet\u2013serret-formulas","display_name":"Frenet\u2013Serret formulas","score":0.9350149631500244},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7300893664360046},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6521117687225342},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.6516779065132141},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5050161480903625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41129928827285767},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39818063378334045},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3974011540412903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3628847599029541},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3601366877555847},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34626322984695435},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20010945200920105},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15316739678382874}],"concepts":[{"id":"https://openalex.org/C162546045","wikidata":"https://www.wikidata.org/wiki/Q947922","display_name":"Frenet\u2013Serret formulas","level":3,"score":0.9350149631500244},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7300893664360046},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6521117687225342},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.6516779065132141},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5050161480903625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41129928827285767},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39818063378334045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3974011540412903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3628847599029541},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3601366877555847},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34626322984695435},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20010945200920105},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15316739678382874},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3145389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3145389","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","score":0.8199999928474426,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2328643749","display_name":null,"funder_award_id":"531118010509","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G3601955901","display_name":"\u9762\u5411\u68ee\u6797\u73af\u5883\u76d1\u6d4b\u7684\u81ea\u4e3b\u9ad8\u53ef\u9760\u591a\u65e0\u4eba\u673a\u7cfb\u7edf\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"61833013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5149796413","display_name":null,"funder_award_id":"2020AAA0108104","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5284308679","display_name":null,"funder_award_id":"2021JJ40114","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G5690165050","display_name":null,"funder_award_id":"61873047","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8242381588","display_name":null,"funder_award_id":"62103139","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/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W230730723","https://openalex.org/W1578293866","https://openalex.org/W1977085960","https://openalex.org/W1989345169","https://openalex.org/W2027311349","https://openalex.org/W2044526330","https://openalex.org/W2064842627","https://openalex.org/W2107338474","https://openalex.org/W2123871098","https://openalex.org/W2134765105","https://openalex.org/W2148361676","https://openalex.org/W2165216595","https://openalex.org/W2190016588","https://openalex.org/W2192586580","https://openalex.org/W2294480821","https://openalex.org/W2343568200","https://openalex.org/W2345973286","https://openalex.org/W2414941611","https://openalex.org/W2616635592","https://openalex.org/W2774342010","https://openalex.org/W2782393959","https://openalex.org/W2806851394","https://openalex.org/W2884634491","https://openalex.org/W2887413094","https://openalex.org/W2924607344","https://openalex.org/W2946231253","https://openalex.org/W2963041685","https://openalex.org/W2963214840","https://openalex.org/W2963215357","https://openalex.org/W2972751607","https://openalex.org/W2991275856","https://openalex.org/W2995649812","https://openalex.org/W2995673330","https://openalex.org/W3054438628","https://openalex.org/W3091964200","https://openalex.org/W3112702643","https://openalex.org/W3127025836","https://openalex.org/W3198919602","https://openalex.org/W3207948259","https://openalex.org/W4232598359","https://openalex.org/W6753596642"],"related_works":["https://openalex.org/W2609788161","https://openalex.org/W2890994448","https://openalex.org/W4312766700","https://openalex.org/W1967787111","https://openalex.org/W2998181671","https://openalex.org/W2361423042","https://openalex.org/W4380742280","https://openalex.org/W4312095783","https://openalex.org/W4388184739","https://openalex.org/W4313197548"],"abstract_inverted_index":{"Curvy":[0],"roads":[1],"are":[2,86,101,187],"a":[3,32],"particular":[4],"type":[5],"of":[6,13,76,170,184],"urban":[7],"road":[8,15],"scenario,":[9],"wherein":[10],"the":[11,14,24,41,49,55,59,67,74,83,93,98,105,122,148,158,171],"curvature":[12],"centerline":[16],"changes":[17],"drastically.":[18],"This":[19],"paper":[20],"is":[21,117,129,154,164,174],"focused":[22],"on":[23,31,48],"trajectory":[25,38,50],"planning":[26,65],"task":[27],"for":[28],"autonomous":[29],"driving":[30],"curvy":[33],"road.":[34],"The":[35,168],"prevalent":[36],"on-road":[37],"planners":[39],"in":[40,66,82,92,131],"Frenet":[42],"frame":[43,85],"cannot":[44],"impose":[45],"accurate":[46],"restrictions":[47],"curvature,":[51],"thus":[52],"easily":[53],"making":[54],"resultant":[56],"trajectories":[57],"beyond":[58],"ego":[60],"vehicle\u2019s":[61],"kinematic":[62,111,144],"capability.":[63],"Regarding":[64],"Cartesian":[68,84],"frame,":[69],"selection-based":[70],"methods":[71,81],"suffer":[72],"from":[73],"curse":[75],"dimensionality.":[77],"By":[78],"contrast,":[79],"optimization-based":[80,150],"more":[87],"flexible":[88],"to":[89,103,119,157],"find":[90],"optima":[91],"continuous":[94],"solution":[95],"space,":[96],"but":[97],"new":[99],"challenges":[100],"how":[102],"tackle":[104],"intractable":[106],"collision-avoidance":[107,140],"constraints":[108,141],"and":[109,137,142,179],"nonconvex":[110],"constraints.":[112,124,145],"An":[113],"iterative":[114],"computation":[115],"framework":[116],"proposed":[118,172],"accumulatively":[120],"handle":[121],"complex":[123],"Concretely,":[125],"an":[126],"intermediate":[127],"problem":[128],"solved":[130],"each":[132],"iteration,":[133],"which":[134],"contains":[135],"linear":[136],"tractably":[138],"scaled":[139],"softened":[143],"Compared":[146],"with":[147],"existing":[149],"planners,":[151],"our":[152],"proposal":[153],"less":[155],"sensitive":[156],"initial":[159],"guess":[160],"especially":[161],"when":[162],"it":[163],"not":[165],"kinematically":[166],"feasible.":[167],"efficiency":[169],"planner":[173],"validated":[175],"by":[176],"both":[177],"simulations":[178],"real-world":[180],"experiments.":[181],"Source":[182],"codes":[183],"this":[185],"work":[186],"available":[188],"at":[189],"<uri":[190],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[191],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/libai1943/CartesianPlanner</uri>":[192],".":[193]},"counts_by_year":[{"year":2026,"cited_by_count":18},{"year":2025,"cited_by_count":52},{"year":2024,"cited_by_count":31},{"year":2023,"cited_by_count":47},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
