{"id":"https://openalex.org/W7128632657","doi":"https://doi.org/10.1109/tits.2026.3659723","title":"CosineOpt: Optimization-Based Centralized Cooperative Speed Planning for Multiple CAVs Along Intersected Fixed Paths","display_name":"CosineOpt: Optimization-Based Centralized Cooperative Speed Planning for Multiple CAVs Along Intersected Fixed Paths","publication_year":2026,"publication_date":"2026-02-11","ids":{"openalex":"https://openalex.org/W7128632657","doi":"https://doi.org/10.1109/tits.2026.3659723"},"language":null,"primary_location":{"id":"doi:10.1109/tits.2026.3659723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2026.3659723","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":null,"display_name":"Fan Bu","orcid":"https://orcid.org/0009-0000-2581-6776"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Bu","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-2581-6776","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123499658","display_name":"Bai Li","orcid":null},"institutions":[{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Li","raw_affiliation_strings":["School of Communication and Electronic Engineering, East China Normal University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8966-8992","affiliations":[{"raw_affiliation_string":"School of Communication and Electronic Engineering, East China Normal University, Shanghai, China","institution_ids":["https://openalex.org/I66867065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107927140","display_name":"H. P. Peng","orcid":"https://orcid.org/0000-0002-8076-8989"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Chen","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8076-8989","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125646444","display_name":"Guizhen Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guizhen Yu","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8374-7422","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125665918","display_name":"Yunpeng Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunpeng Wang","raw_affiliation_strings":["Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4005-6338","affiliations":[{"raw_affiliation_string":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672","https://openalex.org/I890469752"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14308259,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"27","issue":"6","first_page":"7211","last_page":"7225"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.5493999719619751,"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":0.5493999719619751,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2248000055551529,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.17399999499320984,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.713100016117096},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5339000225067139},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49399998784065247},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4876999855041504},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4575999975204468},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4544000029563904},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.45419999957084656},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4083000123500824}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.713100016117096},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.638700008392334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5590000152587891},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5339000225067139},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49399998784065247},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4876999855041504},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4575999975204468},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4544000029563904},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.45419999957084656},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4083000123500824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40450000762939453},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.40230000019073486},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.39010000228881836},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3718999922275543},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.34940001368522644},{"id":"https://openalex.org/C20729856","wikidata":"https://www.wikidata.org/wiki/Q2078279","display_name":"Geometric programming","level":2,"score":0.3393999934196472},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3240000009536743},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.29980000853538513},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.29190000891685486},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26409998536109924},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.258899986743927}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2026.3659723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2026.3659723","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":[],"awards":[{"id":"https://openalex.org/G7043310846","display_name":null,"funder_award_id":"2022YFB4703700","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,36],"paper":[1],"focuses":[2],"on":[3],"cooperative":[4],"speed":[5,111],"planning":[6],"for":[7,53,70,95,124],"multiple":[8],"connected":[9],"and":[10,98,149,159],"automated":[11],"vehicles":[12],"(CAVs)":[13],"traversing":[14],"along":[15],"intersected":[16],"fixed":[17],"paths.":[18],"Nominally,":[19],"this":[20],"task":[21],"is":[22,132],"formulated":[23],"as":[24,120],"an":[25],"optimal":[26,116],"control":[27],"problem":[28],"incorporating":[29],"logical":[30],"operators":[31],"to":[32,93,108,135,144],"represent":[33],"collision-avoidance":[34,72],"constraints.":[35],"formulation":[37],"requires":[38],"solving":[39,58],"a":[40,63,66,78,105,121,141],"mixed-integer":[41],"nonlinear":[42],"programming":[43],"(MINLP)":[44],"problem,":[45],"while":[46],"handling":[47],"non-differentiable":[48],"integer":[49],"variables":[50],"remains":[51],"challenging":[52],"gradient-based":[54],"solvers.":[55],"Instead":[56],"of":[57],"the":[59,100,110,114,125,156],"MINLP,":[60],"we":[61,139],"propose":[62,104,140],"cosine-based":[64],"method,":[65,158],"novel":[67],"geometric":[68,79,96],"strategy":[69,131,143],"formulating":[71],"constraints":[73],"between":[74],"CAVs.":[75],"Constructing":[76],"such":[77],"model":[80],"introduces":[81],"potential":[82],"approximation":[83],"errors,":[84],"which":[85],"are":[86],"mitigated":[87],"by":[88],"fitted":[89],"correction":[90],"terms":[91],"designed":[92],"compensate":[94],"deviations":[97],"refine":[99],"distance":[101],"calculation.":[102],"We":[103],"simulation-based":[106],"planner":[107],"provide":[109],"profile":[112],"with":[113],"globally":[115],"passing":[117],"order,":[118],"serving":[119],"warm":[122],"start":[123],"solver.":[126],"A":[127],"lightweight":[128],"iterative":[129],"optimization":[130],"also":[133],"adopted":[134],"enhance":[136],"robustness.":[137],"Additionally,":[138],"fault-tolerant":[142],"ensure":[145],"both":[146],"system":[147],"safety":[148],"operational":[150],"efficiency.":[151,164],"Extensive":[152],"simulation":[153],"results":[154],"verify":[155],"proposed":[157],"comparative":[160],"experiments":[161],"demonstrate":[162],"its":[163]},"counts_by_year":[],"updated_date":"2026-06-05T06:17:00.636019","created_date":"2026-02-12T00:00:00"}
