{"id":"https://openalex.org/W3158597572","doi":"https://doi.org/10.1109/tvt.2021.3076473","title":"Personalized Trajectory Planning and Control of Lane-Change Maneuvers for Autonomous Driving","display_name":"Personalized Trajectory Planning and Control of Lane-Change Maneuvers for Autonomous Driving","publication_year":2021,"publication_date":"2021-04-29","ids":{"openalex":"https://openalex.org/W3158597572","doi":"https://doi.org/10.1109/tvt.2021.3076473","mag":"3158597572"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2021.3076473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3076473","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5081848769","display_name":"Chao Huang","orcid":"https://orcid.org/0000-0003-3023-4388"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chao Huang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-3023-4388","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037131765","display_name":"Hailong Huang","orcid":"https://orcid.org/0000-0003-2667-6423"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hailong Huang","raw_affiliation_strings":["School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0003-2667-6423","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055911707","display_name":"Peng Hang","orcid":"https://orcid.org/0000-0002-5843-0594"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Peng Hang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-5843-0594","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007825395","display_name":"Hongbo Gao","orcid":"https://orcid.org/0000-0002-5271-1280"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Gao","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0002-5271-1280","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044215622","display_name":"Jingda Wu","orcid":"https://orcid.org/0000-0002-7336-4492"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jingda Wu","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7336-4492","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012295217","display_name":"Zhiyu Huang","orcid":"https://orcid.org/0000-0003-1592-7215"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhiyu Huang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-1592-7215","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072073374","display_name":"Chen Lv","orcid":"https://orcid.org/0000-0001-6897-4512"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen Lv","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6897-4512","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.8625,"has_fulltext":false,"cited_by_count":128,"citation_normalized_percentile":{"value":0.97313213,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"70","issue":"6","first_page":"5511","last_page":"5523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9991000294685364,"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/T10524","display_name":"Traffic control and management","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7113126516342163},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5382933020591736},{"id":"https://openalex.org/keywords/topsis","display_name":"TOPSIS","score":0.46147772669792175},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.45865604281425476},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4456261396408081},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4125158190727234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36128222942352295},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35960352420806885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34285467863082886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27236369252204895},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.2458374798297882},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13270896673202515},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.0922265350818634}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7113126516342163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5382933020591736},{"id":"https://openalex.org/C51566761","wikidata":"https://www.wikidata.org/wiki/Q1235853","display_name":"TOPSIS","level":2,"score":0.46147772669792175},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.45865604281425476},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4456261396408081},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4125158190727234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36128222942352295},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35960352420806885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34285467863082886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27236369252204895},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.2458374798297882},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13270896673202515},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0922265350818634},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2021.3076473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3076473","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8777714460","display_name":null,"funder_award_id":"1922500046","funder_id":"https://openalex.org/F4320320766","funder_display_name":"Nanyang Technological University"}],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W253815572","https://openalex.org/W628510578","https://openalex.org/W1519776950","https://openalex.org/W1520813427","https://openalex.org/W2003642326","https://openalex.org/W2004815408","https://openalex.org/W2012742078","https://openalex.org/W2024473012","https://openalex.org/W2039746681","https://openalex.org/W2041675240","https://openalex.org/W2045456289","https://openalex.org/W2102650063","https://openalex.org/W2103880099","https://openalex.org/W2146873903","https://openalex.org/W2164203504","https://openalex.org/W2250447163","https://openalex.org/W2343568200","https://openalex.org/W2389367430","https://openalex.org/W2564091245","https://openalex.org/W2767029132","https://openalex.org/W2782393959","https://openalex.org/W2791310449","https://openalex.org/W2911846823","https://openalex.org/W2945257394","https://openalex.org/W2946231253","https://openalex.org/W2969818521","https://openalex.org/W2981038620","https://openalex.org/W2990179116","https://openalex.org/W2990303017","https://openalex.org/W2991052353","https://openalex.org/W3000119951","https://openalex.org/W3036144047","https://openalex.org/W3090027660","https://openalex.org/W3105200428","https://openalex.org/W3107164117","https://openalex.org/W3151175129","https://openalex.org/W4238404176","https://openalex.org/W4242991951","https://openalex.org/W6605295560","https://openalex.org/W6609462131","https://openalex.org/W6631209646","https://openalex.org/W6769780687"],"related_works":["https://openalex.org/W2041949587","https://openalex.org/W2958553423","https://openalex.org/W2358217305","https://openalex.org/W2359186709","https://openalex.org/W4282827651","https://openalex.org/W3015638941","https://openalex.org/W4324117723","https://openalex.org/W2379805174","https://openalex.org/W2963268865","https://openalex.org/W2145006118"],"abstract_inverted_index":{"With":[0],"the":[1,37,61,69,74,88,118,133,140],"aims":[2],"of":[3,13,26,160],"safe,":[4],"smart":[5],"and":[6,16,73,114,149,152,164,179,186,194],"sustainable":[7],"future":[8],"mobility,":[9],"a":[10,33,79],"personalized":[11,80,176],"approach":[12,170],"trajectory":[14,63,81,177],"planning":[15,178],"control":[17],"based":[18],"on":[19,99],"user":[20,141],"preferences":[21,98,185],"is":[22,41,55,66,129,171],"developed":[23,56],"for":[24,120],"lane-change":[25,158,180],"autonomous":[27,161],"vehicles":[28],"in":[29],"this":[30,83],"paper.":[31],"First,":[32],"safe":[34,70],"area":[35,71],"during":[36],"lane":[38],"change":[39],"process":[40],"identified":[42],"by":[43,105,123,138],"using":[44],"constraint":[45],"Delaunay":[46],"triangulation.":[47],"Then,":[48,117],"an":[49],"improved":[50],"rapidly-exploring":[51],"Random":[52],"Trees":[53],"(i-RRT)":[54],"with":[57],"B-spline":[58],"to":[59,68,95,125,131,173],"generate":[60],"feasible":[62],"cluster,":[64,84],"which":[65,101],"subject":[67],"boundaries":[72],"vehicle":[75,115,189],"dynamics.":[76],"To":[77],"extract":[78],"from":[82],"we":[85],"firstly":[86],"adopt":[87],"fuzzy":[89],"linguistic":[90],"preference":[91,122],"relation":[92],"(FLPR)":[93],"method":[94],"identify":[96],"users'":[97,183],"driving,":[100],"can":[102],"be":[103],"reflected":[104],"their":[106],"subjective":[107],"objectives":[108],"including":[109],"driving":[110],"safety,":[111,190],"ride":[112],"comfort":[113],"stability.":[116],"technique":[119],"order":[121],"similarity":[124],"ideal":[126],"situation":[127],"(TOPSIS)":[128],"utilized":[130],"solve":[132],"multi-objective":[134],"optimisation":[135],"problem":[136],"formulated":[137],"considering":[139],"preferences.":[142],"The":[143],"algorithms":[144],"proposed":[145,169],"above":[146],"are":[147,155],"integrated,":[148],"both":[150],"simulation":[151],"experimental":[153],"validation":[154],"conducted":[156],"under":[157],"scenarios":[159],"driving.":[162],"Simulation":[163],"experiment":[165],"results":[166],"show":[167],"that":[168],"able":[172],"successfully":[174],"realize":[175],"control,":[181],"satisfying":[182],"various":[184],"simultaneously":[187],"ensure":[188],"demonstrating":[191],"its":[192],"feasibility":[193],"effectiveness.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":36},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}