{"id":"https://openalex.org/W4385413515","doi":"https://doi.org/10.1109/tiv.2023.3299845","title":"Integrated Decision Making and Planning Based on Feasible Region Construction for Autonomous Vehicles Considering Prediction Uncertainty","display_name":"Integrated Decision Making and Planning Based on Feasible Region Construction for Autonomous Vehicles Considering Prediction Uncertainty","publication_year":2023,"publication_date":"2023-07-31","ids":{"openalex":"https://openalex.org/W4385413515","doi":"https://doi.org/10.1109/tiv.2023.3299845"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3299845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3299845","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/A5100379486","display_name":"Lu Xiong","orcid":"https://orcid.org/0000-0002-1673-2658"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Xiong","raw_affiliation_strings":["Institute of Intelligent Vehicles, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1673-2658","affiliations":[{"raw_affiliation_string":"Institute of Intelligent Vehicles, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396622","display_name":"Yixuan Zhang","orcid":"https://orcid.org/0009-0003-3201-8432"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixuan Zhang","raw_affiliation_strings":["Institute of Intelligent Vehicles, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0003-3201-8432","affiliations":[{"raw_affiliation_string":"Institute of Intelligent Vehicles, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101619324","display_name":"Yuanzhi Liu","orcid":"https://orcid.org/0000-0003-2927-0293"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanzhi Liu","raw_affiliation_strings":["Institute of Intelligent Vehicles, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2927-0293","affiliations":[{"raw_affiliation_string":"Institute of Intelligent Vehicles, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032359217","display_name":"Hongyu Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Xiao","raw_affiliation_strings":["Institute of Intelligent Vehicles, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Vehicles, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068465714","display_name":"Chen Tang","orcid":"https://orcid.org/0000-0003-1188-4393"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Tang","raw_affiliation_strings":["Institute of Intelligent Vehicles, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1188-4393","affiliations":[{"raw_affiliation_string":"Institute of Intelligent Vehicles, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":{"value":2345,"currency":"USD","value_usd":2345},"apc_paid":null,"fwci":1.4344,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.79629887,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":"11","first_page":"4515","last_page":"4523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"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"}},"topics":[{"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9901000261306763,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9793000221252441,"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":0.716288149356842},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.6900004148483276},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6533120274543762},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.5700735449790955},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5258080363273621},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.47470417618751526},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.4675630033016205},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4327349066734314},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.39312905073165894},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36746376752853394},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.3166079819202423},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.256958544254303},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.21320992708206177},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13784611225128174}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.716288149356842},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.6900004148483276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6533120274543762},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.5700735449790955},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5258080363273621},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.47470417618751526},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.4675630033016205},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4327349066734314},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.39312905073165894},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36746376752853394},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.3166079819202423},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.256958544254303},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.21320992708206177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13784611225128174},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3299845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3299845","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G5417035967","display_name":null,"funder_award_id":"52102468","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1502485165","https://openalex.org/W2003099253","https://openalex.org/W2006880954","https://openalex.org/W2221280282","https://openalex.org/W2607873356","https://openalex.org/W2741086815","https://openalex.org/W2769646558","https://openalex.org/W2782474430","https://openalex.org/W2952258289","https://openalex.org/W2962681260","https://openalex.org/W2990653181","https://openalex.org/W2990762375","https://openalex.org/W3046960330","https://openalex.org/W3081214244","https://openalex.org/W3098184036","https://openalex.org/W3101798601","https://openalex.org/W3147987103","https://openalex.org/W3158413423","https://openalex.org/W3163007727","https://openalex.org/W3189343424","https://openalex.org/W3191093786","https://openalex.org/W3197234345","https://openalex.org/W4205284853","https://openalex.org/W4206194555","https://openalex.org/W4225565707","https://openalex.org/W4225754812","https://openalex.org/W4225773298","https://openalex.org/W4225882772","https://openalex.org/W4226078411","https://openalex.org/W4226175347","https://openalex.org/W4226180458","https://openalex.org/W4280629057","https://openalex.org/W4285049144","https://openalex.org/W4285272860","https://openalex.org/W4285307725","https://openalex.org/W4297095020","https://openalex.org/W4301272227","https://openalex.org/W4308080357","https://openalex.org/W4311168004","https://openalex.org/W4312705088","https://openalex.org/W4312714840","https://openalex.org/W4313058878","https://openalex.org/W4313316269","https://openalex.org/W4313591698","https://openalex.org/W4323897030","https://openalex.org/W4376457019"],"related_works":["https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W3169161914","https://openalex.org/W3208638985"],"abstract_inverted_index":{"For":[0],"autonomous":[1],"vehicles,":[2],"scene":[3],"understanding":[4],"is":[5,73,93],"still":[6],"one":[7],"of":[8,30,79],"the":[9,56,77,102,114,131,139],"major":[10],"challenges,":[11],"which":[12],"needs":[13],"to":[14,18,40,75,100,118,125],"be":[15],"well":[16],"handled":[17],"avoid":[19],"jittery":[20],"decisions":[21],"and":[22,37,43,51,106,109,121,137],"unsmooth":[23],"trajectories.":[24],"Furthermore,":[25],"uncertainty":[26,57,80],"in":[27,58,81],"trajectory":[28,59,82,123],"prediction":[29,60,83],"traffic":[31],"participants":[32],"directly":[33],"affects":[34],"decision":[35,98,127],"results,":[36],"thus":[38],"contributes":[39],"safety,":[41],"comfort":[42],"efficiency.":[44],"This":[45],"article":[46],"proposes":[47],"an":[48],"integrated":[49],"decision-making":[50,105],"planning":[52],"(DNP)":[53],"framework":[54,116],"considering":[55],"based":[61,95],"on":[62,96],"Partially":[63],"Observable":[64],"Markov":[65],"Decision":[66],"Process":[67],"(POMDP).":[68],"A":[69],"multivariate":[70],"Gaussian":[71],"distribution":[72],"utilized":[74],"model":[76],"propagation":[78],"process.":[84],"To":[85],"plan":[86],"smooth":[87],"trajectories,":[88],"a":[89,119],"feasible":[90],"region":[91],"construction":[92],"proposed":[94,115],"fine-grained":[97],"results":[99,111],"bridge":[101],"gap":[103],"between":[104],"planning.":[107],"Simulation":[108],"experimental":[110],"confirm":[112],"that":[113],"leads":[117],"safer":[120],"smoother":[122],"compared":[124],"command-type":[126],"outputs":[128],"by":[129,134,142],"increasing":[130],"safety":[132],"distance":[133],"1.27":[135],"m":[136],"reducing":[138],"curvature":[140],"fluctuations":[141],"2.08.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
