{"id":"https://openalex.org/W4408859611","doi":"https://doi.org/10.1109/tits.2025.3551617","title":"UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving With Motion Prediction of Traffic Participants","display_name":"UDMC: Unified Decision-Making and Control Framework for Urban Autonomous Driving With Motion Prediction of Traffic Participants","publication_year":2025,"publication_date":"2025-03-27","ids":{"openalex":"https://openalex.org/W4408859611","doi":"https://doi.org/10.1109/tits.2025.3551617"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3551617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3551617","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/A5100782481","display_name":"Haichao Liu","orcid":"https://orcid.org/0009-0006-2311-7094"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Haichao Liu","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100438011","display_name":"Kai Chen","orcid":"https://orcid.org/0009-0001-1321-5217"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kai Chen","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413222","display_name":"Yulin Li","orcid":"https://orcid.org/0000-0001-6907-5594"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yulin Li","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026569510","display_name":"Zhenmin Huang","orcid":"https://orcid.org/0000-0001-7295-4653"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhenmin Huang","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053340150","display_name":"Jun Ma","orcid":"https://orcid.org/0000-0002-9405-8232"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Ma","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100782481"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3553,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79354044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"26","issue":"5","first_page":"5856","last_page":"5871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9937000274658203,"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":0.9937000274658203,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.9671000242233276,"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/motion","display_name":"Motion (physics)","score":0.5418331027030945},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5401725769042969},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.491643488407135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32585442066192627}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5418331027030945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5401725769042969},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.491643488407135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32585442066192627}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2025.3551617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3551617","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"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-161524","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-161524","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[{"id":"https://openalex.org/G7804376327","display_name":null,"funder_award_id":"62303390","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W2524886531","https://openalex.org/W2562163136","https://openalex.org/W2769471004","https://openalex.org/W2782393959","https://openalex.org/W2842089854","https://openalex.org/W2896612987","https://openalex.org/W2913416895","https://openalex.org/W2922689720","https://openalex.org/W2924607344","https://openalex.org/W2946231253","https://openalex.org/W2950170662","https://openalex.org/W2971031619","https://openalex.org/W2995649812","https://openalex.org/W2996811802","https://openalex.org/W3045543478","https://openalex.org/W3107164117","https://openalex.org/W3164127623","https://openalex.org/W3172863135","https://openalex.org/W3181376804","https://openalex.org/W3191652410","https://openalex.org/W3201745857","https://openalex.org/W3208207838","https://openalex.org/W3210065386","https://openalex.org/W3211345831","https://openalex.org/W3214182945","https://openalex.org/W4210607981","https://openalex.org/W4224216677","https://openalex.org/W4225390809","https://openalex.org/W4225773298","https://openalex.org/W4226338449","https://openalex.org/W4283761461","https://openalex.org/W4285071855","https://openalex.org/W4287617987","https://openalex.org/W4289927822","https://openalex.org/W4293145634","https://openalex.org/W4295539682","https://openalex.org/W4312396550","https://openalex.org/W4312991124","https://openalex.org/W4377079854","https://openalex.org/W4379538705","https://openalex.org/W4381328400","https://openalex.org/W4382998910","https://openalex.org/W4384787305","https://openalex.org/W4385254044","https://openalex.org/W4386212350","https://openalex.org/W4390099569","https://openalex.org/W4390872423","https://openalex.org/W4396817486","https://openalex.org/W4400645400","https://openalex.org/W4400648084","https://openalex.org/W4401415210","https://openalex.org/W6743333067","https://openalex.org/W6745935785","https://openalex.org/W6753596642","https://openalex.org/W6772033386","https://openalex.org/W6841094356","https://openalex.org/W6842243992","https://openalex.org/W6874063078","https://openalex.org/W7037747477"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Current":[0],"autonomous":[1,55],"driving":[2,56,123,141],"systems":[3],"often":[4],"struggle":[5],"to":[6,30,37,89,121],"balance":[7],"decision-making":[8,60],"and":[9,15,39,51,61,81,93,95,107,136],"motion":[10,62,99],"control":[11,63,68],"while":[12],"ensuring":[13],"safety":[14,40,106],"traffic":[16,82,91],"rule":[17,108],"compliance,":[18],"especially":[19],"in":[20,128,139],"complex":[21],"urban":[22],"environments.":[23],"Existing":[24],"methods":[25],"may":[26],"fall":[27],"short":[28],"due":[29],"separate":[31],"handling":[32],"of":[33,117],"these":[34,44],"functionalities,":[35],"leading":[36],"inefficiencies":[38],"compromises.":[41],"To":[42],"address":[43],"challenges,":[45],"we":[46],"introduce":[47],"UDMC,":[48],"an":[49],"interpretable":[50],"unified":[52],"Level":[53],"4":[54],"framework.":[57],"UDMC":[58],"integrates":[59],"into":[64],"a":[65,97],"single":[66],"optimal":[67],"problem":[69],"(OCP),":[70],"considering":[71],"the":[72,131],"dynamic":[73],"interactions":[74],"with":[75],"surrounding":[76],"vehicles,":[77],"pedestrians,":[78],"road":[79],"lanes,":[80],"signals.":[83],"By":[84],"employing":[85],"innovative":[86],"potential":[87],"functions":[88],"model":[90],"participants":[92],"regulations,":[94],"incorporating":[96],"specialized":[98],"prediction":[100],"module,":[101],"our":[102],"framework":[103],"enhances":[104],"on-road":[105],"adherence.":[109],"The":[110],"integrated":[111],"design":[112],"allows":[113],"for":[114],"real-time":[115],"execution":[116],"flexible":[118],"maneuvers":[119],"suited":[120],"diverse":[122],"scenarios.":[124],"High-fidelity":[125],"simulations":[126],"conducted":[127],"CARLA":[129],"exemplify":[130],"framework\u2019s":[132],"computational":[133],"efficiency,":[134],"robustness,":[135],"safety,":[137],"resulting":[138],"superior":[140],"performance":[142],"when":[143],"compared":[144],"against":[145],"various":[146],"baseline":[147],"models.":[148],"Our":[149],"open-source":[150],"project":[151],"is":[152],"available":[153],"at":[154],"<uri":[155],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[156],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/henryhcliu/udmc_carla.git</uri>.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}