{"id":"https://openalex.org/W4285114593","doi":"https://doi.org/10.1109/tits.2022.3186429","title":"A Novel Simultaneous Planning and Control Scheme of Automated Lane Change on Slippery Roads","display_name":"A Novel Simultaneous Planning and Control Scheme of Automated Lane Change on Slippery Roads","publication_year":2022,"publication_date":"2022-07-12","ids":{"openalex":"https://openalex.org/W4285114593","doi":"https://doi.org/10.1109/tits.2022.3186429"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3186429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3186429","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/A5044211780","display_name":"Lin Zhang","orcid":"https://orcid.org/0000-0002-9358-0264"},"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":"Lin Zhang","raw_affiliation_strings":["Postdoctoral Station of Mechanical Engineering, School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-9358-0264","affiliations":[{"raw_affiliation_string":"Postdoctoral Station of Mechanical Engineering, School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101665731","display_name":"Bin Li","orcid":"https://orcid.org/0000-0002-4967-0131"},"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":"Bin Li","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083057446","display_name":"Hao Yi","orcid":"https://orcid.org/0000-0002-3682-5683"},"institutions":[{"id":"https://openalex.org/I4210153068","display_name":"Dongfeng Motor Group (China)","ror":"https://ror.org/055ar4y96","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210153068"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Hao","raw_affiliation_strings":["Advance Product Development Department, Dongfeng Commercial Vehicle Technical Center, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advance Product Development Department, Dongfeng Commercial Vehicle Technical Center, Wuhan, China","institution_ids":["https://openalex.org/I4210153068"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060516245","display_name":"Haoqi Hu","orcid":"https://orcid.org/0009-0007-8043-910X"},"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":"Haoqi Hu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100636321","display_name":"Yunfeng Hu","orcid":"https://orcid.org/0000-0003-4068-0664"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunfeng Hu","raw_affiliation_strings":["Department of Control Science and Engineering, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-4068-0664","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003126186","display_name":"Yanjun Huang","orcid":"https://orcid.org/0000-0003-3133-8031"},"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":"Yanjun Huang","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3133-8031","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074996561","display_name":"Hong Chen","orcid":"https://orcid.org/0000-0002-1724-8649"},"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":"Hong Chen","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1724-8649","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0976,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.75376147,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"23","issue":"11","first_page":"20696","last_page":"20706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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/T12810","display_name":"Real-time simulation and control systems","score":0.993399977684021,"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/T10524","display_name":"Traffic control and management","score":0.9889000058174133,"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/acceleration","display_name":"Acceleration","score":0.6774411201477051},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6284416913986206},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.609477162361145},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.588133692741394},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.549721360206604},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5282938480377197},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5049152970314026},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.47818925976753235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43910345435142517},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.42045435309410095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4133763313293457},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35036778450012207},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3472919166088104},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2579105496406555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12307688593864441},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.11818793416023254}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6774411201477051},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6284416913986206},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.609477162361145},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.588133692741394},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.549721360206604},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5282938480377197},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5049152970314026},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.47818925976753235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43910345435142517},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.42045435309410095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4133763313293457},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35036778450012207},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3472919166088104},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2579105496406555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12307688593864441},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.11818793416023254},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3186429","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3186429","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":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[{"id":"https://openalex.org/G360669350","display_name":null,"funder_award_id":"62003238","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5702282270","display_name":null,"funder_award_id":"U19A2069","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8369633618","display_name":null,"funder_award_id":"62073152","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1484769566","https://openalex.org/W1508521005","https://openalex.org/W1901066373","https://openalex.org/W1979317847","https://openalex.org/W1991990178","https://openalex.org/W2035485812","https://openalex.org/W2048415602","https://openalex.org/W2166446174","https://openalex.org/W2341848647","https://openalex.org/W2346595613","https://openalex.org/W2515319037","https://openalex.org/W2573941966","https://openalex.org/W2597740287","https://openalex.org/W2612283853","https://openalex.org/W2764328989","https://openalex.org/W2921580667","https://openalex.org/W2945428418","https://openalex.org/W2972533956","https://openalex.org/W3008218687","https://openalex.org/W3010840629","https://openalex.org/W3029908169","https://openalex.org/W3048280423","https://openalex.org/W3085871788","https://openalex.org/W3089713051","https://openalex.org/W3097634115","https://openalex.org/W3118925872","https://openalex.org/W3128115655","https://openalex.org/W3135363299","https://openalex.org/W3155699351","https://openalex.org/W3209739041","https://openalex.org/W6735102497"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W4231448069","https://openalex.org/W2019128690","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W1495847109","https://openalex.org/W2270789747","https://openalex.org/W2390817143"],"abstract_inverted_index":{"Existing":[0],"hierarchical":[1,192],"planning":[2,39,51],"and":[3,40,52,60,70,82,122,162,197,210],"control":[4,41,46,58,92],"architectures":[5],"can":[6],"cause":[7],"the":[8,14,45,57,66,71,78,102,112,131,135,156,172,176,180,187,191,198],"upper-level":[9],"target":[10],"trajectory":[11],"passed":[12],"to":[13,18,24,75,100,133,143],"lower-level":[15],"tracking":[16],"controller":[17,132],"be":[19],"too":[20],"conservative":[21],"or":[22],"impossible":[23],"track":[25],"on":[26,84,147],"slippery":[27,85,148],"roads.":[28,86],"To":[29],"solve":[30],"this":[31,33],"problem,":[32],"paper":[34],"proposes":[35],"a":[36,106,201],"new":[37],"simultaneous":[38],"scheme":[42],"that":[43,77,154],"determines":[44],"inputs":[47],"without":[48],"explicit":[49],"path":[50],"requires":[53],"only":[54],"information":[55],"about":[56],"objectives":[59],"safety":[61,72],"constraints.":[62],"First,":[63],"we":[64,129],"establish":[65],"vehicle":[67,79,181,199],"stability":[68,209],"boundary":[69],"distance":[73],"constraints":[74],"ensure":[76],"avoids":[80],"drifting":[81],"collisions":[83],"Moreover,":[87],"real-time":[88],"adaptive":[89],"model":[90,96],"predictive":[91],"(MPC)":[93],"with":[94],"online":[95],"linearization":[97],"is":[98],"designed":[99],"approximate":[101],"nonlinear":[103],"programming":[104],"as":[105],"quadratic":[107],"program":[108],"(QP),":[109],"which":[110],"allows":[111],"use":[113],"of":[114,158,179,190],"fast":[115],"convex":[116],"optimization":[117],"tools.":[118],"The":[119,150,204],"steering":[120],"angle":[121,178,189],"longitudinal":[123,136],"acceleration":[124,137],"are":[125],"thus":[126],"obtained.":[127],"Finally,":[128],"design":[130],"convert":[134],"into":[138],"an":[139],"actuatable":[140],"drive":[141],"torque":[142],"avoid":[144],"tire":[145],"skidding":[146],"surfaces.":[149],"simulation":[151],"results":[152],"show":[153],"under":[155],"conditions":[157],"low":[159],"adhesion":[160],"road":[161],"<inline-formula":[163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[165],"<tex-math":[166],"notation=\"LaTeX\">$\\mu":[167],"$":[168],"</tex-math></inline-formula>":[169],"-split":[170],"roads,":[171],"proposed":[173,205],"algorithm":[174,193,206],"makes":[175],"sideslip":[177,188],"within":[182],"1":[183],"degree.":[184],"In":[185],"contrast,":[186],"reaches":[194],"6":[195],"degrees,":[196],"has":[200],"noticeable":[202],"drift.":[203],"dramatically":[207],"improves":[208],"driving":[211],"comfort.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
