{"id":"https://openalex.org/W4400073990","doi":"https://doi.org/10.1109/tvt.2024.3420159","title":"Hierarchical Trajectory Planning Based on Adaptive Motion Primitives and Bilevel Corridor","display_name":"Hierarchical Trajectory Planning Based on Adaptive Motion Primitives and Bilevel Corridor","publication_year":2024,"publication_date":"2024-06-27","ids":{"openalex":"https://openalex.org/W4400073990","doi":"https://doi.org/10.1109/tvt.2024.3420159"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3420159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3420159","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/A5114804100","display_name":"Shihao Li","orcid":"https://orcid.org/0000-0002-8094-8701"},"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":true,"raw_author_name":"Shihao Li","raw_affiliation_strings":["Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055099598","display_name":"Wenshuo Wang","orcid":"https://orcid.org/0000-0002-1860-8351"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wenshuo Wang","raw_affiliation_strings":["McGill University, Montréal, QC, Canada"],"affiliations":[{"raw_affiliation_string":"McGill University, Montréal, QC, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045265475","display_name":"Boyang Wang","orcid":"https://orcid.org/0000-0003-3613-8792"},"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":"Boyang Wang","raw_affiliation_strings":["Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055145092","display_name":"Haijie Guan","orcid":"https://orcid.org/0000-0001-9046-6944"},"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":"Haijie Guan","raw_affiliation_strings":["Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102728189","display_name":"Haiou Liu","orcid":"https://orcid.org/0009-0001-8341-2566"},"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":"Haiou Liu","raw_affiliation_strings":["Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100560882","display_name":"Shaobin Wu","orcid":null},"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":"Shaobin Wu","raw_affiliation_strings":["Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010335898","display_name":"Huiyan Chen","orcid":"https://orcid.org/0009-0003-7464-3906"},"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":"Huiyan Chen","raw_affiliation_strings":["Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Vehicle Research Center, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5114804100"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.7895,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71754565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"73","issue":"11","first_page":"16238","last_page":"16253"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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":0.9979000091552734,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9366999864578247,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12698","display_name":"3D Modeling in Geospatial Applications","score":0.9203000068664551,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.774951159954071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5725775957107544},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5691002011299133},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5482296943664551},{"id":"https://openalex.org/keywords/bilevel-optimization","display_name":"Bilevel optimization","score":0.5136334300041199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34788820147514343},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16881036758422852},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09704926609992981}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.774951159954071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5725775957107544},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5691002011299133},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5482296943664551},{"id":"https://openalex.org/C3309286","wikidata":"https://www.wikidata.org/wiki/Q4907693","display_name":"Bilevel optimization","level":3,"score":0.5136334300041199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34788820147514343},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16881036758422852},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09704926609992981},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3420159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3420159","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":0.5},{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G3486490828","display_name":null,"funder_award_id":"52172378","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4097778562","display_name":null,"funder_award_id":"52302489","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":45,"referenced_works":["https://openalex.org/W1944340628","https://openalex.org/W1977085960","https://openalex.org/W1992085841","https://openalex.org/W1996183429","https://openalex.org/W2027557072","https://openalex.org/W2032924574","https://openalex.org/W2144293566","https://openalex.org/W2148361676","https://openalex.org/W2152110035","https://openalex.org/W2192203593","https://openalex.org/W2524886531","https://openalex.org/W2564368211","https://openalex.org/W2734615402","https://openalex.org/W2754918589","https://openalex.org/W2769646558","https://openalex.org/W2782393959","https://openalex.org/W2897312166","https://openalex.org/W2947602864","https://openalex.org/W2962963952","https://openalex.org/W2963214840","https://openalex.org/W2963215357","https://openalex.org/W2970249675","https://openalex.org/W2970361281","https://openalex.org/W2989788282","https://openalex.org/W2995649812","https://openalex.org/W3015549988","https://openalex.org/W3023830629","https://openalex.org/W3046268151","https://openalex.org/W3086768141","https://openalex.org/W3091964200","https://openalex.org/W3119474959","https://openalex.org/W3119563569","https://openalex.org/W3120187754","https://openalex.org/W3149560384","https://openalex.org/W3181376804","https://openalex.org/W3198919602","https://openalex.org/W3207730626","https://openalex.org/W4200143314","https://openalex.org/W4210607981","https://openalex.org/W4247934413","https://openalex.org/W4311168004","https://openalex.org/W4312827351","https://openalex.org/W4320009709","https://openalex.org/W4387609198","https://openalex.org/W6745935785"],"related_works":["https://openalex.org/W4237041411","https://openalex.org/W1588628884","https://openalex.org/W1994745260","https://openalex.org/W2382404424","https://openalex.org/W4300511218","https://openalex.org/W2012267561","https://openalex.org/W3018909868","https://openalex.org/W3040509871","https://openalex.org/W1597439928","https://openalex.org/W2101105382"],"abstract_inverted_index":{"This":[0,59],"paper":[1],"presents":[2],"an":[3,37],"efficient":[4,61],"and":[5,52,62,78,100,111,118,132],"risk-aware":[6],"search-optimization":[7],"hierarchical":[8],"trajectory":[9,65,84],"planning":[10],"method":[11,107,137],"for":[12],"automated":[13],"vehicles":[14,127],"in":[15,98,138],"different":[16],"road":[17,30],"structures.":[18],"The":[19],"proposed":[20,106,136],"approach":[21],"incorporates":[22],"a":[23,33,68],"time-series":[24],"motion":[25,39,88],"risk":[26,51,81,89],"field,":[27,82],"capturing":[28],"diverse":[29],"structures":[31],"through":[32],"spatiotemporal":[34],"map.":[35],"Then,":[36],"adaptive":[38],"primitive":[40],"is":[41,71],"developed,":[42],"dynamically":[43],"adjusting":[44],"action":[45],"time":[46],"windows":[47],"based":[48],"on":[49,125],"evolving":[50],"expected":[53],"deviation":[54],"during":[55],"the":[56,75,80,105,129,135,139],"search":[57,117],"process.":[58],"enables":[60],"accurate":[63],"initial":[64],"generation.":[66],"Additionally,":[67],"bilevel":[69],"corridor":[70],"introduced":[72],"to":[73,86,92,115],"extract":[74],"drivable":[76],"area":[77],"re-represent":[79],"enabling":[83],"smoothing":[85],"consider":[87],"without":[90],"resorting":[91],"non-convex":[93],"optimization":[94,112,121],"methods.":[95],"Simulation":[96],"results":[97],"structured":[99],"unstructured":[101],"scenarios":[102],"demonstrate":[103],"that":[104],"improves":[108],"efficiency,":[109],"flexibility,":[110],"quality":[113],"compared":[114],"fixed-step":[116],"single-level":[119],"corridor-based":[120],"approaches.":[122],"Real-world":[123],"experiments":[124],"autonomous":[126],"validated":[128],"dynamic":[130],"characteristics":[131],"effectiveness":[133],"of":[134],"actual":[140],"environment.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}