{"id":"https://openalex.org/W3115050275","doi":"https://doi.org/10.1109/tiv.2020.3045837","title":"MPC-Based Cooperative Control Strategy of Path Planning and Trajectory Tracking for Intelligent Vehicles","display_name":"MPC-Based Cooperative Control Strategy of Path Planning and Trajectory Tracking for Intelligent Vehicles","publication_year":2020,"publication_date":"2020-12-18","ids":{"openalex":"https://openalex.org/W3115050275","doi":"https://doi.org/10.1109/tiv.2020.3045837","mag":"3115050275"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2020.3045837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2020.3045837","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5037713727","display_name":"Zhiqiang Zuo","orcid":"https://orcid.org/0000-0002-4566-7488"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiqiang Zuo","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071025921","display_name":"Xu Yang","orcid":"https://orcid.org/0000-0001-9462-0507"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Yang","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089199192","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0002-3278-8352"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Li","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100780980","display_name":"Yijing Wang","orcid":"https://orcid.org/0000-0002-2430-7213"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijing Wang","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042676883","display_name":"Qiaoni Han","orcid":"https://orcid.org/0000-0003-1662-6609"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiaoni Han","raw_affiliation_strings":["Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100336040","display_name":"Li Wang","orcid":"https://orcid.org/0000-0002-5022-3785"},"institutions":[{"id":"https://openalex.org/I1456306","display_name":"North China University of Technology","ror":"https://ror.org/01nky7652","country_code":"CN","type":"education","lineage":["https://openalex.org/I1456306"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Wang","raw_affiliation_strings":["Urban Road Traffic Intelligent Control Technology Beijing Key Laboratory, North China University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Urban Road Traffic Intelligent Control Technology Beijing Key Laboratory, North China University of Technology, Beijing, China","institution_ids":["https://openalex.org/I1456306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064776495","display_name":"Xiaoyuan Luo","orcid":"https://orcid.org/0000-0003-0404-9533"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210128819","display_name":"Institute of Electrical Engineering","ror":"https://ror.org/033js6g46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128819"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyuan Luo","raw_affiliation_strings":["Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907","https://openalex.org/I4210128819"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5037713727"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":7.4327,"has_fulltext":false,"cited_by_count":202,"citation_normalized_percentile":{"value":0.97852113,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"6","issue":"3","first_page":"513","last_page":"522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9984999895095825,"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":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/overtaking","display_name":"Overtaking","score":0.8704638481140137},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7728068828582764},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.669127345085144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5981001853942871},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5474758744239807},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5272452235221863},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4977140724658966},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.49741557240486145},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.494613379240036},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.4894227087497711},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4840249717235565},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47224515676498413},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45382770895957947},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.42358750104904175},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4156324863433838},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41514936089515686},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.321760892868042},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2434626817703247},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2403893768787384},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21248948574066162},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14603060483932495},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1352459192276001}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.8704638481140137},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7728068828582764},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.669127345085144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5981001853942871},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5474758744239807},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5272452235221863},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4977140724658966},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.49741557240486145},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.494613379240036},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.4894227087497711},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4840249717235565},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47224515676498413},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45382770895957947},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.42358750104904175},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4156324863433838},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41514936089515686},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.321760892868042},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2434626817703247},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2403893768787384},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21248948574066162},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14603060483932495},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1352459192276001},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2020.3045837","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2020.3045837","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4940286855","display_name":null,"funder_award_id":"61773281","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5434664803","display_name":null,"funder_award_id":"61673292","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6347684835","display_name":null,"funder_award_id":"61933014","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":28,"referenced_works":["https://openalex.org/W174407824","https://openalex.org/W1508521005","https://openalex.org/W1575042585","https://openalex.org/W1626571806","https://openalex.org/W1967414611","https://openalex.org/W2076061593","https://openalex.org/W2097722970","https://openalex.org/W2112930335","https://openalex.org/W2163590332","https://openalex.org/W2213691076","https://openalex.org/W2246752001","https://openalex.org/W2291087457","https://openalex.org/W2326206646","https://openalex.org/W2341848647","https://openalex.org/W2343568200","https://openalex.org/W2465192128","https://openalex.org/W2524886531","https://openalex.org/W2593192875","https://openalex.org/W2606978426","https://openalex.org/W2741222326","https://openalex.org/W2897407594","https://openalex.org/W2904303363","https://openalex.org/W2914468948","https://openalex.org/W2962915496","https://openalex.org/W2971232659","https://openalex.org/W2980774605","https://openalex.org/W6607225707","https://openalex.org/W6634611808"],"related_works":["https://openalex.org/W2922689720","https://openalex.org/W1965569281","https://openalex.org/W2062919732","https://openalex.org/W2573269332","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4324119413","https://openalex.org/W4319978806","https://openalex.org/W4282942842","https://openalex.org/W4381746183"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,73,95],"propose":[4,75],"a":[5,76,108],"progressive":[6],"model":[7,33,98],"predictive":[8,34,99],"control":[9,16,35,100],"scheme":[10,163],"(PMPCS)":[11],"by":[12,111],"considering":[13],"the":[14,42,48,50,60,67,113,118,121,132,146,152,155,159,162],"cooperative":[15],"of":[17,59,69,120,154,161],"local":[18],"planning":[19,43,78,135,147],"and":[20,44,63,85,124,158],"path":[21,110],"tracking":[22,45],"for":[23],"intelligent":[24],"vehicles.":[25],"An":[26],"improved":[27],"particle":[28],"swarm":[29],"optimization":[30,68],"(IPSO)":[31],"based":[32],"(MPC)":[36],"method":[37,136],"is":[38,137],"developed":[39],"to":[40,106,139],"solve":[41,92],"problem.":[46],"With":[47],"PMPCS,":[49],"total":[51],"computational":[52],"burden":[53],"can":[54,81],"be":[55],"reduced":[56],"sharply":[57],"because":[58],"seamless":[61],"connection":[62],"mutual":[64],"promotion":[65],"between":[66],"two":[70],"layers.":[71],"Besides":[72],"also":[74],"novel":[77],"algorithm,":[79],"which":[80],"take":[82,140],"traffic":[83,141],"lights":[84,142],"overtaking":[86],"time":[87],"constraint":[88],"into":[89,143],"account.":[90],"To":[91],"these":[93],"problems,":[94],"first":[96],"combine":[97],"with":[101,165],"artificial":[102],"potential":[103,128],"field":[104,129],"(APF)":[105],"get":[107],"collision-free":[109],"treating":[112],"time-varying":[114],"safety":[115],"constraints":[116],"as":[117],"scope":[119],"repulsive":[122],"force":[123],"an":[125],"asymmetrical":[126],"lane":[127],"function.":[130],"Furthermore,":[131],"pseudo":[133],"velocity":[134],"adopted":[138],"account":[144],"in":[145],"module.":[148],"Simulation":[149],"results":[150],"show":[151],"reliability":[153],"proposed":[156],"algorithm":[157],"advantages":[160],"compared":[164],"general":[166],"hierarchical":[167],"algorithm.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":54},{"year":2024,"cited_by_count":62},{"year":2023,"cited_by_count":48},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":4}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
