{"id":"https://openalex.org/W3216673499","doi":"https://doi.org/10.1109/tvt.2021.3131751","title":"Curvilinear Multilane Merging and Platooning With Bounded Control in Curved Road Coordinates","display_name":"Curvilinear Multilane Merging and Platooning With Bounded Control in Curved Road Coordinates","publication_year":2021,"publication_date":"2021-12-01","ids":{"openalex":"https://openalex.org/W3216673499","doi":"https://doi.org/10.1109/tvt.2021.3131751","mag":"3216673499"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2021.3131751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3131751","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/A5102009842","display_name":"Jingkai Wu","orcid":"https://orcid.org/0000-0001-6624-8488"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingkai Wu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6624-8488","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684138","display_name":"Yafei Wang","orcid":"https://orcid.org/0000-0003-4880-5054"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yafei Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4880-5054","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045085749","display_name":"Chengliang Yin","orcid":"https://orcid.org/0000-0001-8056-9384"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengliang Yin","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-8056-9384","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8052,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.85306737,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"71","issue":"2","first_page":"1237","last_page":"1252"},"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9984999895095825,"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":0.9980000257492065,"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/platoon","display_name":"Platoon","score":0.8994869589805603},{"id":"https://openalex.org/keywords/curvilinear-coordinates","display_name":"Curvilinear coordinates","score":0.8320084810256958},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.7089712619781494},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6676859855651855},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6509177088737488},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5999869704246521},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5903980135917664},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5704741477966309},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49232637882232666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4766186773777008},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4641702175140381},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38334572315216064},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.255801796913147},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.17112505435943604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16409167647361755}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.8994869589805603},{"id":"https://openalex.org/C98343798","wikidata":"https://www.wikidata.org/wiki/Q1790208","display_name":"Curvilinear coordinates","level":2,"score":0.8320084810256958},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7089712619781494},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6676859855651855},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6509177088737488},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5999869704246521},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5903980135917664},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5704741477966309},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49232637882232666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4766186773777008},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4641702175140381},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38334572315216064},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.255801796913147},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.17112505435943604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16409167647361755},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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.2021.3131751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3131751","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":[{"id":"https://metadata.un.org/sdg/11","score":0.6700000166893005,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G136111005","display_name":"\u57fa\u4e8e\u5c40\u90e8\u7fa4\u4f53\u8054\u5408\u52a8\u529b\u5b66\u7684\u76ee\u6807\u8f66\u8f86\u4fa7\u5411\u72b6\u6001\u7cbe\u51c6\u4f30\u8ba1\u65b9\u6cd5\u7814\u7a76","funder_award_id":"52072243","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1554313475","https://openalex.org/W1993450261","https://openalex.org/W2035913017","https://openalex.org/W2321419480","https://openalex.org/W2341216460","https://openalex.org/W2588911184","https://openalex.org/W2593159012","https://openalex.org/W2750864650","https://openalex.org/W2766503132","https://openalex.org/W2791344499","https://openalex.org/W2793710315","https://openalex.org/W2807455133","https://openalex.org/W2884226817","https://openalex.org/W2885905744","https://openalex.org/W2891819550","https://openalex.org/W2900888703","https://openalex.org/W2907868915","https://openalex.org/W2915503171","https://openalex.org/W2962831329","https://openalex.org/W2968049026","https://openalex.org/W2981577901","https://openalex.org/W3008043889","https://openalex.org/W3017326821","https://openalex.org/W3022015163","https://openalex.org/W3087767325","https://openalex.org/W3119722460","https://openalex.org/W3130234876","https://openalex.org/W3205437656","https://openalex.org/W3208083690","https://openalex.org/W3210540399","https://openalex.org/W3212373318","https://openalex.org/W4301621763"],"related_works":["https://openalex.org/W4286572054","https://openalex.org/W2163875247","https://openalex.org/W4388855948","https://openalex.org/W4389544977","https://openalex.org/W4385236313","https://openalex.org/W3006156193","https://openalex.org/W3109067418","https://openalex.org/W2143852632","https://openalex.org/W2784113758","https://openalex.org/W2174006685"],"abstract_inverted_index":{"Coordination":[0],"of":[1,14,17,23,31,42,56,107,138,142,160,187],"the":[2,21,47,73,91,136,144,162,185,188],"Connected":[3],"and":[4,50,102,120],"Automated":[5],"Vehicles":[6],"(CAVs)":[7],"is":[8,66,83,100,133,151,171],"a":[9,28,76,80,154],"demanding":[10],"task":[11],"in":[12,36,85,135,177],"aspects":[13],"effective":[15],"incorporation":[16],"road":[18,49,179],"information":[19],"with":[20,114,153,181],"control":[22],"vehicle":[24,97],"motion":[25],"states.":[26],"Formulating":[27],"platoon":[29,112],"composed":[30],"multiple":[32,37,178],"CAVs":[33,109],"initially":[34],"located":[35],"lanes":[38],"requires":[39],"integrated":[40],"consideration":[41],"both":[43,118],"steering":[44],"incurred":[45],"by":[46],"curved":[48],"merging":[51,150],"actions.":[52],"Meanwhile,":[53],"additional":[54],"requirement":[55],"intervehicle":[57,168],"safety":[58],"distance":[59,169],"keeping":[60],"as":[61,63],"well":[62],"bounded":[64,155],"actuations":[65],"also":[67],"critical":[68],"for":[69],"practical":[70],"implementation.":[71],"Considering":[72],"above":[74],"problems,":[75],"comprehensive":[77],"framework":[78],"containing":[79],"distributed":[81],"controller":[82,141,190],"proposed":[84,101,189],"this":[86],"paper":[87],"to":[88,104,110,165],"systematically":[89],"address":[90],"combined":[92],"problems.":[93],"A":[94],"bi-level":[95],"curvilinear":[96],"coordination":[98],"scheme":[99],"proven":[103],"be":[105],"capable":[106],"guiding":[108],"desired":[111],"formation":[113],"theoretical":[115],"analysis.":[116],"Besides,":[117],"longitudinal":[119,131],"lateral":[121,156],"acceleration":[122,132],"limitations":[123],"have":[124],"been":[125,147],"taken":[126],"into":[127],"consideration.":[128],"The":[129,158],"limited":[130],"included":[134],"design":[137],"nonlinear":[139],"saturated":[140],"which":[143],"convergence":[145],"has":[146],"proven.":[148],"Adaptive":[149],"realized":[152],"controller.":[157],"condition":[159],"limiting":[161],"initial":[163],"states":[164],"guarantee":[166],"safe":[167],"maintenance":[170],"formulated.":[172],"Hardware-in-the-Loop":[173],"(HiL)":[174],"test":[175],"demonstrations":[176],"scenarios":[180],"different":[182],"curvatures":[183],"validate":[184],"performance":[186],"over":[191],"existing":[192],"baseline":[193],"methods.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}