{"id":"https://openalex.org/W4226186026","doi":"https://doi.org/10.1109/tiv.2022.3163968","title":"Autonomous Lateral Maneuvers for Self-Driving Vehicles in Complex Traffic Environment","display_name":"Autonomous Lateral Maneuvers for Self-Driving Vehicles in Complex Traffic Environment","publication_year":2022,"publication_date":"2022-03-31","ids":{"openalex":"https://openalex.org/W4226186026","doi":"https://doi.org/10.1109/tiv.2022.3163968"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2022.3163968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2022.3163968","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":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Autonomous_lateral_maneuvers_for_self-driving_vehicles_in_complex_traffic_environment/19454033","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103111736","display_name":"Zhaolun Li","orcid":"https://orcid.org/0000-0003-2855-6935"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhaolun Li","raw_affiliation_strings":["Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, Leicestershire, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, Leicestershire, U.K","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067934887","display_name":"Jingjing Jiang","orcid":"https://orcid.org/0000-0001-7754-9147"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jingjing Jiang","raw_affiliation_strings":["Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, Leicestershire, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, Leicestershire, U.K","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428822","display_name":"Wen\u2010Hua Chen","orcid":"https://orcid.org/0000-0003-3356-2889"},"institutions":[{"id":"https://openalex.org/I143804889","display_name":"Loughborough University","ror":"https://ror.org/04vg4w365","country_code":"GB","type":"education","lineage":["https://openalex.org/I143804889"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wen-Hua Chen","raw_affiliation_strings":["Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, Leicestershire, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, Leicestershire, U.K","institution_ids":["https://openalex.org/I143804889"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029043997","display_name":"Liang Sun","orcid":"https://orcid.org/0000-0003-1107-7081"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Sun","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103111736"],"corresponding_institution_ids":["https://openalex.org/I143804889"],"apc_list":null,"apc_paid":null,"fwci":1.1752,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76257553,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"2","first_page":"1900","last_page":"1910"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/trajectory","display_name":"Trajectory","score":0.6090192198753357},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5506483912467957},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5226937532424927},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5047844648361206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.50434410572052},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4958706796169281},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.46123266220092773},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43881431221961975},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4382730722427368},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37565237283706665},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3583800196647644},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3333016633987427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18417096138000488}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6090192198753357},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5506483912467957},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5226937532424927},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5047844648361206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.50434410572052},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4958706796169281},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.46123266220092773},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43881431221961975},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4382730722427368},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37565237283706665},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3583800196647644},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3333016633987427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18417096138000488},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tiv.2022.3163968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2022.3163968","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"},{"id":"pmh:oai:figshare.com:article/19454033","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Autonomous_lateral_maneuvers_for_self-driving_vehicles_in_complex_traffic_environment/19454033","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/19454033","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Autonomous_lateral_maneuvers_for_self-driving_vehicles_in_complex_traffic_environment/19454033","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.41999998688697815}],"awards":[{"id":"https://openalex.org/G2144161455","display_name":"Goal-Oriented Control Systems (GOCS): Disturbance, Uncertainty and Constraints","funder_award_id":"EP/T005734/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2563411182","display_name":null,"funder_award_id":"EP/T005734/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1511243153","https://openalex.org/W1592601589","https://openalex.org/W1967371255","https://openalex.org/W1968617346","https://openalex.org/W1987439218","https://openalex.org/W1992715130","https://openalex.org/W2001656150","https://openalex.org/W2030435949","https://openalex.org/W2060981895","https://openalex.org/W2076290341","https://openalex.org/W2109128004","https://openalex.org/W2125827653","https://openalex.org/W2162908568","https://openalex.org/W2164370907","https://openalex.org/W2192586580","https://openalex.org/W2199000878","https://openalex.org/W2517236235","https://openalex.org/W2537623947","https://openalex.org/W2790544020","https://openalex.org/W2884690226","https://openalex.org/W2963322416","https://openalex.org/W2991126425","https://openalex.org/W3011955462","https://openalex.org/W3061856215","https://openalex.org/W3098476112","https://openalex.org/W3211527493","https://openalex.org/W4251956438"],"related_works":["https://openalex.org/W2507513082","https://openalex.org/W1971360108","https://openalex.org/W2383384882","https://openalex.org/W886502991","https://openalex.org/W2381254651","https://openalex.org/W3048587953","https://openalex.org/W2027295464","https://openalex.org/W2211256721","https://openalex.org/W2739466001","https://openalex.org/W2960513918"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"functions":[2],"have":[3],"gained":[4],"great":[5],"interests":[6],"from":[7],"both":[8,57],"academia":[9],"and":[10,28,40,60,112,128,142],"industry":[11],"over":[12],"the":[13,32,48,74,77,81,93,107,110,115,123,136,140,143,156,160,163],"years.":[14],"This":[15],"paper":[16],"proposes":[17],"a":[18,26,52,88],"Model":[19],"Predictive":[20],"Control":[21],"based":[22],"method":[23],"to":[24,35,41,46,71,105,113,118,138],"generate":[25],"safe":[27],"feasible":[29],"trajectory":[30],"for":[31],"ego":[33,49,78,116],"vehicle":[34,50,79,117],"perform":[36],"various":[37,148],"lateral":[38,85,94,124],"maneuvers":[39,149],"produce":[42],"optimized":[43],"control":[44],"inputs":[45],"guide":[47],"through":[51],"mixed":[53],"traffic":[54],"environment":[55],"with":[56,98],"human":[58],"drivers":[59],"autonomous":[61],"vehicle.":[62],"A":[63,126],"novel":[64],"reference":[65],"speed":[66],"generation":[67],"function":[68,97,102],"is":[69,91,103,133],"proposed":[70],"automatically":[72,119],"adjust":[73],"position":[75],"of":[76,83,109,162],"before":[80],"initiation":[82,96],"any":[84],"maneuvers.":[86],"After":[87],"proper":[89],"gap":[90],"selected,":[92],"maneuver":[95,111],"an":[99],"add-on":[100],"threshold":[101],"introduced":[104],"ensure":[106],"safety":[108],"enable":[114],"start":[120],"or":[121,158],"stop":[122],"maneuver.":[125],"nonlinear":[127],"high":[129],"fidelity":[130],"tire":[131],"model":[132],"utilized":[134],"in":[135],"simulation":[137,144],"validate":[139],"algorithm":[141],"results":[145],"show":[146],"that":[147],"can":[150],"be":[151],"successfully":[152],"achieved":[153],"without":[154],"re-tuning":[155],"weights":[157],"changing":[159],"parameters":[161],"controller.":[164]},"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":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}