{"id":"https://openalex.org/W4390204480","doi":"https://doi.org/10.1109/tvt.2023.3346450","title":"An Integrated Path Planning Framework for Multi-Obstacle Avoidance of the Multi-Axle Autonomous Vehicle With Enhanced Safety and Stability","display_name":"An Integrated Path Planning Framework for Multi-Obstacle Avoidance of the Multi-Axle Autonomous Vehicle With Enhanced Safety and Stability","publication_year":2023,"publication_date":"2023-12-25","ids":{"openalex":"https://openalex.org/W4390204480","doi":"https://doi.org/10.1109/tvt.2023.3346450"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2023.3346450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3346450","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/A5001011374","display_name":"Zhichao Li","orcid":"https://orcid.org/0000-0001-8993-2493"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhichao Li","raw_affiliation_strings":["National Engineering Laboratory for Electric Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8993-2493","affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Electric Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101670254","display_name":"Junqiu Li","orcid":"https://orcid.org/0000-0001-9963-7770"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junqiu Li","raw_affiliation_strings":["National Engineering Laboratory for Electric Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9963-7770","affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Electric Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100782995","display_name":"Ying Li","orcid":"https://orcid.org/0000-0001-9834-7376"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Li","raw_affiliation_strings":["National Engineering Laboratory for Electric Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Electric Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.4891,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.85084189,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"73","issue":"5","first_page":"6368","last_page":"6382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9959999918937683,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9957000017166138,"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/collision-avoidance","display_name":"Collision avoidance","score":0.6888484954833984},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.674500584602356},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.631935715675354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4949132800102234},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.4595867693424225},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.435688853263855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4108915627002716},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3550567626953125},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3290366530418396},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2951067388057709},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2660720944404602},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23225846886634827},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07899355888366699}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6888484954833984},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.674500584602356},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.631935715675354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4949132800102234},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.4595867693424225},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.435688853263855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4108915627002716},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3550567626953125},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3290366530418396},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2951067388057709},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2660720944404602},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23225846886634827},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07899355888366699},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2023.3346450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3346450","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","display_name":"Sustainable cities and communities","score":0.5899999737739563}],"awards":[{"id":"https://openalex.org/G4757220982","display_name":null,"funder_award_id":"52072037","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W629937909","https://openalex.org/W2003276232","https://openalex.org/W2124058244","https://openalex.org/W2129209579","https://openalex.org/W2149416133","https://openalex.org/W2317484146","https://openalex.org/W2573744919","https://openalex.org/W2918589332","https://openalex.org/W2938920312","https://openalex.org/W2946231253","https://openalex.org/W2952762354","https://openalex.org/W2963041685","https://openalex.org/W3004846477","https://openalex.org/W3008115128","https://openalex.org/W3016931720","https://openalex.org/W3124827602","https://openalex.org/W3129095095","https://openalex.org/W3135112703","https://openalex.org/W3182751084","https://openalex.org/W3207766790","https://openalex.org/W3216064697","https://openalex.org/W4200233636","https://openalex.org/W4200284149","https://openalex.org/W4206510012","https://openalex.org/W4206713226","https://openalex.org/W4210400141","https://openalex.org/W4210607981","https://openalex.org/W4210667216","https://openalex.org/W4214896021","https://openalex.org/W4226381010","https://openalex.org/W4226428973","https://openalex.org/W4229005274","https://openalex.org/W4281765063","https://openalex.org/W4282916692","https://openalex.org/W4283384892","https://openalex.org/W4283755515","https://openalex.org/W4293052590","https://openalex.org/W4293370919","https://openalex.org/W4311168004","https://openalex.org/W4312081617","https://openalex.org/W4312550876","https://openalex.org/W4312864208","https://openalex.org/W4313010601","https://openalex.org/W4313887139","https://openalex.org/W4319069051","https://openalex.org/W4320005407","https://openalex.org/W4381748192","https://openalex.org/W4387609331","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W3005999311","https://openalex.org/W3119736302","https://openalex.org/W4381746183"],"abstract_inverted_index":{"The":[0],"autonomous":[1,36,69],"path":[2,41,54,110,125],"planning":[3,42,135,153],"for":[4,34,65,80,90,102],"obstacle":[5],"avoidance":[6],"has":[7],"garnered":[8],"great":[9],"interest":[10],"of":[11,142,210],"numerous":[12],"researchers":[13],"recently.":[14],"In":[15,71,106],"this":[16],"field,":[17,151],"the":[18,35,72,74,84,96,107,109,123,139,143,149,152,163,167,172,187,196,205,211],"multi-obstacle":[19],"issue":[20],"is":[21,63,78,88,100,114,130,159,198],"a":[22,45,52,58,66],"challenging":[23],"but":[24],"critical":[25],"topic":[26],"that":[27],"needs":[28],"to":[29,86],"be":[30],"adequately":[31],"investigated,":[32],"especially":[33],"heavy":[37],"vehicle.":[38,70],"An":[39],"integrated":[40],"framework":[43],"comprising":[44],"key":[46,75],"reference":[47,76],"target":[48,77],"risk":[49,81],"evaluator":[50],"(KRE),":[51],"B-spline":[53,118],"optimizer":[55],"(BPO)":[56],"and":[57,83,128,155,166,170,182,189,195,207],"multidimensional":[59],"constraint":[60],"set":[61],"(MCS)":[62],"proposed":[64,212],"multi-axle":[67],"distributed":[68],"KRE,":[73],"recognized":[79],"classification,":[82],"space":[85],"collision":[87,150],"constructed":[89],"lane":[91],"changing":[92],"feasibility":[93],"judgement.":[94],"Meanwhile,":[95],"probability-based":[97],"vehicle":[98,157,173],"ellipse":[99],"designed":[101,115],"influence":[103],"range":[104],"reflection.":[105],"BPO,":[108],"generation-optimization":[111],"integration":[112],"algorithm":[113],"based":[116],"on":[117],"parameterized":[119],"method,":[120],"by":[121],"which":[122,161,203],"optimal":[124,144],"with":[126,133],"smoothness":[127],"response":[129],"determined":[131],"continuously":[132],"real-time":[134,208],"objectives.":[136],"To":[137],"improve":[138],"comprehensive":[140],"performance":[141],"path,":[145],"an":[146],"MCS":[147],"considering":[148],"corridor":[154],"ego":[156],"dynamic":[158,174],"formulated,":[160],"guarantees":[162],"anti-collision":[164],"ability":[165],"spatial":[168],"realizability,":[169],"enhances":[171],"properties":[175],"involving":[176],"anti-sideslip,":[177],"rollover":[178],"prevention,":[179],"yaw":[180],"stability":[181],"tire":[183],"wear":[184],"alleviation.":[185],"Finally,":[186],"simulation":[188],"HIL":[190],"test":[191],"platform":[192],"are":[193],"established":[194],"validation":[197],"conducted":[199],"in":[200],"different":[201],"cases,":[202],"proves":[204],"effectiveness":[206],"capability":[209],"framework.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}