{"id":"https://openalex.org/W4387623945","doi":"https://doi.org/10.1109/tiv.2023.3324305","title":"Two-Dimensional Following Lane-Changing (2DF-LC): A Framework for Dynamic Decision-Making and Rapid Behavior Planning","display_name":"Two-Dimensional Following Lane-Changing (2DF-LC): A Framework for Dynamic Decision-Making and Rapid Behavior Planning","publication_year":2023,"publication_date":"2023-10-13","ids":{"openalex":"https://openalex.org/W4387623945","doi":"https://doi.org/10.1109/tiv.2023.3324305"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3324305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3324305","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/A5022704261","display_name":"Xingyu Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xingyu Chen","raw_affiliation_strings":["School of Civil Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Civil Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370299","display_name":"Weihua Zhang","orcid":"https://orcid.org/0000-0001-7899-2642"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Zhang","raw_affiliation_strings":["School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021223977","display_name":"Haijian Bai","orcid":"https://orcid.org/0000-0003-4551-5473"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haijian Bai","raw_affiliation_strings":["School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-4551-5473","affiliations":[{"raw_affiliation_string":"School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013997063","display_name":"Can Xu","orcid":"https://orcid.org/0000-0003-0750-8061"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Can Xu","raw_affiliation_strings":["School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034575563","display_name":"Heng Ding","orcid":"https://orcid.org/0000-0003-4516-436X"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heng Ding","raw_affiliation_strings":["School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-4516-436X","affiliations":[{"raw_affiliation_string":"School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101984637","display_name":"Wenjuan Huang","orcid":"https://orcid.org/0000-0002-9515-7048"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjuan Huang","raw_affiliation_strings":["School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5022704261"],"corresponding_institution_ids":["https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":4.5352,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.95335512,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"427","last_page":"445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10370","display_name":"Traffic and Road Safety","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/acceleration","display_name":"Acceleration","score":0.7660723924636841},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.6695948243141174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5669234991073608},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5253416895866394},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.48799461126327515},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48762503266334534},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.45360881090164185},{"id":"https://openalex.org/keywords/sigmoid-function","display_name":"Sigmoid function","score":0.4451446235179901},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.4423946440219879},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4392004609107971},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.377672016620636},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3620684742927551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3599257469177246},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2186972200870514},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11987695097923279},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.1078822910785675},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10130104422569275}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7660723924636841},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.6695948243141174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5669234991073608},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5253416895866394},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.48799461126327515},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48762503266334534},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.45360881090164185},{"id":"https://openalex.org/C81388566","wikidata":"https://www.wikidata.org/wiki/Q526668","display_name":"Sigmoid function","level":3,"score":0.4451446235179901},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.4423946440219879},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4392004609107971},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.377672016620636},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3620684742927551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3599257469177246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2186972200870514},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11987695097923279},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.1078822910785675},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10130104422569275},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3324305","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3324305","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":0.7300000190734863,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3363756292","display_name":null,"funder_award_id":"2208085ME148","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"},{"id":"https://openalex.org/G7230634754","display_name":null,"funder_award_id":"52372326","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/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W799832950","https://openalex.org/W1847191588","https://openalex.org/W1965455100","https://openalex.org/W2013375980","https://openalex.org/W2037079232","https://openalex.org/W2050109517","https://openalex.org/W2096576273","https://openalex.org/W2108196201","https://openalex.org/W2152374007","https://openalex.org/W2199000878","https://openalex.org/W2341256225","https://openalex.org/W2487175822","https://openalex.org/W2526634643","https://openalex.org/W2528158400","https://openalex.org/W2747084155","https://openalex.org/W2767029132","https://openalex.org/W2802906495","https://openalex.org/W2807126442","https://openalex.org/W2884690226","https://openalex.org/W2903661589","https://openalex.org/W2934718510","https://openalex.org/W2939798172","https://openalex.org/W2946231253","https://openalex.org/W2946476763","https://openalex.org/W2957228561","https://openalex.org/W3007886928","https://openalex.org/W3009245989","https://openalex.org/W3015549988","https://openalex.org/W3023333822","https://openalex.org/W3083846300","https://openalex.org/W3090027660","https://openalex.org/W3093332598","https://openalex.org/W3100605398","https://openalex.org/W3116143577","https://openalex.org/W3127696709","https://openalex.org/W3155221951","https://openalex.org/W3164340576","https://openalex.org/W3166956873","https://openalex.org/W3169975582","https://openalex.org/W3191994656","https://openalex.org/W3201745857","https://openalex.org/W3214936300","https://openalex.org/W4205284853","https://openalex.org/W4205584175","https://openalex.org/W4210321623","https://openalex.org/W4210436886","https://openalex.org/W4210680058","https://openalex.org/W4223633542","https://openalex.org/W4226051392","https://openalex.org/W4226081705","https://openalex.org/W4226279542","https://openalex.org/W4226338449","https://openalex.org/W4280629057","https://openalex.org/W4285184932","https://openalex.org/W4312517780","https://openalex.org/W4312757831","https://openalex.org/W4313316269","https://openalex.org/W4313887139","https://openalex.org/W4396680619","https://openalex.org/W6856783072"],"related_works":["https://openalex.org/W2376623953","https://openalex.org/W2352897580","https://openalex.org/W2118664347","https://openalex.org/W2348411017","https://openalex.org/W3049304016","https://openalex.org/W1977630140","https://openalex.org/W2019544916","https://openalex.org/W2093995589","https://openalex.org/W2513330233","https://openalex.org/W2568861134"],"abstract_inverted_index":{"Lane":[0],"changes":[1,90],"require":[2],"dynamic":[3,101],"decision-making":[4],"and":[5,36,51,100,127,135,142,170,173,189,192,238],"rapid":[6],"behavior":[7],"planning,":[8],"which":[9],"are":[10],"challenging":[11],"for":[12,31],"traffic":[13],"modeling.":[14],"We":[15],"propose":[16],"a":[17,42,66,75,80,110,118,194,212],"two-dimensional":[18],"following":[19],"lane-changing":[20],"framework":[21,40],"(2DF-LC)":[22],"that":[23,64,85,149],"exploits":[24],"the":[25,70,105,162,185,203],"benefits":[26],"of":[27,221],"car-following":[28,82,113],"(CF)":[29],"models":[30],"computational":[32,153],"efficiency,":[33],"collision":[34,102,136,199],"avoidance,":[35],"human-like":[37],"behavior.":[38],"This":[39],"uses":[41],"sigmoid-based":[43],"intelligent":[44],"driver":[45],"model":[46,83,114,172],"(SIDM)":[47],"with":[48,161,216],"both":[49,125],"longitudinal":[50,71,98],"lateral":[52,106,111,133],"following.":[53],"To":[54],"avoid":[55],"excessive":[56],"acceleration":[57,89,214],"at":[58],"start-up,":[59],"we":[60,73,108],"develop":[61,109],"an":[62,217],"SIDM":[63],"ensures":[65],"smooth":[67,213],"start-up.":[68],"In":[69,104],"plane,":[72,107],"introduce":[74],"transition":[76],"function":[77],"to":[78,92],"create":[79],"double-target":[81],"(DT-SIDM)":[84],"can":[86,234],"handle":[87],"sudden":[88],"due":[91],"target":[93],"switching,":[94],"thereby":[95],"guaranteeing":[96],"stable":[97],"motion":[99,134,166],"avoidance.":[103],"movement":[112],"(LM-SIDM)":[115],"inspired":[116],"by":[117,187,232],"social":[119],"force":[120],"model.":[121],"The":[122,228],"LM-SIDM":[123],"defines":[124],"lane":[126,139],"gap":[128],"forces,":[129],"resulting":[130],"in":[131,144,241],"effective":[132],"avoidance":[137],"during":[138],"changes.":[140],"Simulations":[141],"tests":[143],"three":[145],"typical":[146],"scenarios":[147],"show":[148],"2DF-LC":[150,179,210,233],"has":[151],"high":[152],"efficiency:":[154],"it":[155],"completes":[156],"calculations":[157],"within":[158],"milliseconds.":[159],"Compared":[160],"widely":[163],"used":[164],"hierarchical":[165],"planning":[167],"system":[168],"(HMPS)":[169],"integrated":[171],"learning":[174],"combined":[175],"algorithm":[176],"(IMLC)":[177],"methods,":[178],"based":[180],"on":[181],"real":[182],"trajectories":[183],"reduces":[184],"errors":[186],"49.5%":[188],"16.1%,":[190],"respectively,":[191],"achieves":[193],"28.63%":[195],"lower":[196],"time-integrated":[197],"anticipated":[198],"time":[200],"(TI-ACT)":[201],"than":[202],"original":[204],"trajectories,":[205],"indicating":[206],"improved":[207],"safety.":[208],"Moreover,":[209],"produces":[211],"curve,":[215],"average":[218],"jerk":[219],"value":[220],"0.358":[222],"m/s":[223],"<sup":[224],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[225],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[226],".":[227],"lane-change":[229],"trajectory":[230],"generated":[231],"also":[235],"be":[236],"followed":[237],"executed":[239],"effectively":[240],"CarSim":[242],"tests.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":8}],"updated_date":"2026-05-26T13:28:51.108037","created_date":"2025-10-10T00:00:00"}