{"id":"https://openalex.org/W4312240241","doi":"https://doi.org/10.1109/tits.2022.3226493","title":"Stable Obstacle Avoidance Strategy for Crawler-Type Intelligent Transportation Vehicle in Non-Structural Environment Based on Attention-Learning","display_name":"Stable Obstacle Avoidance Strategy for Crawler-Type Intelligent Transportation Vehicle in Non-Structural Environment Based on Attention-Learning","publication_year":2022,"publication_date":"2022-12-16","ids":{"openalex":"https://openalex.org/W4312240241","doi":"https://doi.org/10.1109/tits.2022.3226493"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3226493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3226493","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/A5080745833","display_name":"Yitian Wang","orcid":"https://orcid.org/0000-0002-2095-0172"},"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":true,"raw_author_name":"Yitian Wang","raw_affiliation_strings":["College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051297707","display_name":"Jun Lin","orcid":"https://orcid.org/0000-0002-7568-9346"},"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":"Jun Lin","raw_affiliation_strings":["College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100350342","display_name":"Liu Zhang","orcid":"https://orcid.org/0000-0002-4547-0044"},"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":"Liu Zhang","raw_affiliation_strings":["College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100610983","display_name":"Tianhao Wang","orcid":"https://orcid.org/0000-0002-2126-6110"},"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":"Tianhao Wang","raw_affiliation_strings":["College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058334910","display_name":"Hao Xu","orcid":"https://orcid.org/0000-0002-8774-1228"},"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":"Hao Xu","raw_affiliation_strings":["College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036237786","display_name":"Yuehan Qi","orcid":"https://orcid.org/0000-0002-0598-1042"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yuehan Qi","raw_affiliation_strings":["Department of Art and Science, Queen’s University, Kingston, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Art and Science, Queen’s University, Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051002009","display_name":"Guanyu Zhang","orcid":"https://orcid.org/0000-0002-3108-5604"},"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":"Guanyu Zhang","raw_affiliation_strings":["College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101878907","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0002-8187-0555"},"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":"Yang Liu","raw_affiliation_strings":["College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China"],"affiliations":[{"raw_affiliation_string":"College of Instrumentation and Electrical Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5080745833"],"corresponding_institution_ids":["https://openalex.org/I194450716"],"apc_list":null,"apc_paid":null,"fwci":0.7836,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.69760418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"24","issue":"7","first_page":"7813","last_page":"7830"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","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/T10524","display_name":"Traffic control and management","score":0.9958999752998352,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8771295547485352},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7241922616958618},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6895120739936829},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6078493595123291},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.508167028427124},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4962630867958069},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.4755013883113861},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46680596470832825},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.4508143365383148},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39609280228614807},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3666391372680664},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32082173228263855},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2873671054840088},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2175302803516388},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.19316759705543518},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.13289913535118103},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.11974045634269714},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07692942023277283}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8771295547485352},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7241922616958618},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6895120739936829},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6078493595123291},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.508167028427124},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4962630867958069},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.4755013883113861},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46680596470832825},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.4508143365383148},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39609280228614807},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3666391372680664},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32082173228263855},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2873671054840088},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2175302803516388},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.19316759705543518},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.13289913535118103},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.11974045634269714},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07692942023277283},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3226493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3226493","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":0.5600000023841858,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2106444137","display_name":null,"funder_award_id":"41827803","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6639599348","display_name":null,"funder_award_id":"21ZY21","funder_id":"https://openalex.org/F4320336735","funder_display_name":"Changchun Science and Technology Planning Project"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336735","display_name":"Changchun Science and Technology Planning Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W2165784250","https://openalex.org/W2190016588","https://openalex.org/W2341848647","https://openalex.org/W2388591084","https://openalex.org/W2556604186","https://openalex.org/W2566623069","https://openalex.org/W2744745135","https://openalex.org/W2796483014","https://openalex.org/W2802289898","https://openalex.org/W2886622679","https://openalex.org/W2900969057","https://openalex.org/W2902621749","https://openalex.org/W2905872298","https://openalex.org/W2907460853","https://openalex.org/W2912361519","https://openalex.org/W2918589332","https://openalex.org/W2920594132","https://openalex.org/W2944851425","https://openalex.org/W2961553857","https://openalex.org/W2962703917","https://openalex.org/W2963681075","https://openalex.org/W2973185801","https://openalex.org/W2974686944","https://openalex.org/W2990733219","https://openalex.org/W3019786402","https://openalex.org/W3023076313","https://openalex.org/W3024810126","https://openalex.org/W3024851445","https://openalex.org/W3025035827","https://openalex.org/W3040320990","https://openalex.org/W3042774191","https://openalex.org/W3045686492","https://openalex.org/W3047375952","https://openalex.org/W3048293652","https://openalex.org/W3087020912","https://openalex.org/W3089555680","https://openalex.org/W3104423476","https://openalex.org/W3112856749","https://openalex.org/W3121763922","https://openalex.org/W3125881455","https://openalex.org/W3126610903","https://openalex.org/W3127576196","https://openalex.org/W3128100939","https://openalex.org/W3159863995","https://openalex.org/W3170117327","https://openalex.org/W3201219698","https://openalex.org/W4206338773","https://openalex.org/W4206367093","https://openalex.org/W4206415598","https://openalex.org/W4220922322","https://openalex.org/W4221095669","https://openalex.org/W4226085387","https://openalex.org/W4288884793","https://openalex.org/W6809912820"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Existing":[0],"intelligent":[1],"driving":[2,9,154],"technology":[3],"often":[4],"has":[5],"difficulty":[6],"balancing":[7],"smooth":[8],"and":[10,23,113,126,135],"fast":[11],"obstacle":[12,36,68,84,102],"avoidance,":[13],"especially":[14],"when":[15],"the":[16,58,66,74,82,90,107,114,124,146],"vehicle":[17,44,148],"is":[18,24],"in":[19,140],"a":[20,99],"non-structural":[21],"environment":[22],"prone":[25],"to":[26,72],"instability":[27],"during":[28],"emergencies.":[29],"Therefore,":[30],"this":[31,119,129,141],"study":[32,142],"proposed":[33,139],"an":[34,48],"autonomous":[35,67,83],"avoidance":[37,69,85,103],"control":[38,70,86,104,130],"strategy":[39,87,131],"that":[40,145],"can":[41,143,149],"effectively":[42],"guarantee":[43,73],"stability":[45,91,125],"based":[46,105],"on":[47,106],"Attention-long":[49],"short-term":[50],"memory":[51],"(Attention":[52],"LSTM)":[53],"deep":[54,100],"learning":[55,101],"model":[56,110],"with":[57,89],"idea":[59],"of":[60,76,93,118,128],"humanoid":[61],"driving.":[62],"First,":[63],"we":[64,80,97],"designed":[65],"rules":[71],"safety":[75],"unmanned":[77,147],"vehicles.":[78,95],"Second,":[79],"improved":[81],"combined":[88],"analysis":[92],"special":[94],"Third,":[96],"constructed":[98],"Attention-LSTM":[108],"network":[109],"through":[111],"experiments,":[112],"average":[115],"relative":[116],"error":[117],"system":[120],"was":[121],"14.95%.":[122],"Finally,":[123],"accuracy":[127],"were":[132],"verified":[133],"numerically":[134],"experimentally.":[136],"The":[137],"method":[138],"ensure":[144],"successfully":[150],"avoid":[151],"obstacles":[152],"while":[153],"smoothly.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-10-10T00:00:00"}