{"id":"https://openalex.org/W3045510960","doi":"https://doi.org/10.1109/vtc2020-fall49728.2020.9348630","title":"Lane-Change Initiation and Planning Approach for Highly Automated Driving on Freeways","display_name":"Lane-Change Initiation and Planning Approach for Highly Automated Driving on Freeways","publication_year":2020,"publication_date":"2020-11-01","ids":{"openalex":"https://openalex.org/W3045510960","doi":"https://doi.org/10.1109/vtc2020-fall49728.2020.9348630","mag":"3045510960"},"language":"en","primary_location":{"id":"doi:10.1109/vtc2020-fall49728.2020.9348630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2020-fall49728.2020.9348630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 92nd Vehicular Technology Conference (VTC2020-Fall)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.14032","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044904283","display_name":"Salar Arbabi","orcid":"https://orcid.org/0000-0002-9049-9161"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Salar Arbabi","raw_affiliation_strings":["University of Surrey,Department of Mechanical Engineering Sciences,Guildford,UK,GU2 7XH"],"affiliations":[{"raw_affiliation_string":"University of Surrey,Department of Mechanical Engineering Sciences,Guildford,UK,GU2 7XH","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050561104","display_name":"Shilp Dixit","orcid":"https://orcid.org/0000-0001-9378-442X"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shilp Dixit","raw_affiliation_strings":["University of Surrey,Department of Mechanical Engineering Sciences,Guildford,UK,GU2 7XH"],"affiliations":[{"raw_affiliation_string":"University of Surrey,Department of Mechanical Engineering Sciences,Guildford,UK,GU2 7XH","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088504866","display_name":"Ziyao Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I142476485","display_name":"\u00c9cole Polytechnique","ror":"https://ror.org/05hy3tk52","country_code":"FR","type":"education","lineage":["https://openalex.org/I142476485","https://openalex.org/I4210145102"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ziyao Zheng","raw_affiliation_strings":["\u00c9cole Polytechnique de l\u2019Universit\u00e9 de Nantes,\u00c9lectronique et Technologies Num\u00e9riques(ETN),Nantes,France,44306"],"affiliations":[{"raw_affiliation_string":"\u00c9cole Polytechnique de l\u2019Universit\u00e9 de Nantes,\u00c9lectronique et Technologies Num\u00e9riques(ETN),Nantes,France,44306","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I142476485"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071672383","display_name":"David Oxtoby","orcid":null},"institutions":[{"id":"https://openalex.org/I130198913","display_name":"Jaguar Land Rover (United Kingdom)","ror":"https://ror.org/03b66v461","country_code":"GB","type":"company","lineage":["https://openalex.org/I130198913"]},{"id":"https://openalex.org/I4210127762","display_name":"Coventry (United Kingdom)","ror":"https://ror.org/030nd5313","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210127762"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"David Oxtoby","raw_affiliation_strings":["Jaguar Land Rover Limited,Coventry,UK,CV3 4LF"],"affiliations":[{"raw_affiliation_string":"Jaguar Land Rover Limited,Coventry,UK,CV3 4LF","institution_ids":["https://openalex.org/I130198913","https://openalex.org/I4210127762"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110741259","display_name":"Alexandros Mouzakitis","orcid":null},"institutions":[{"id":"https://openalex.org/I130198913","display_name":"Jaguar Land Rover (United Kingdom)","ror":"https://ror.org/03b66v461","country_code":"GB","type":"company","lineage":["https://openalex.org/I130198913"]},{"id":"https://openalex.org/I4210127762","display_name":"Coventry (United Kingdom)","ror":"https://ror.org/030nd5313","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210127762"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alexandros Mouzakitis","raw_affiliation_strings":["Jaguar Land Rover Limited,Coventry,UK,CV3 4LF"],"affiliations":[{"raw_affiliation_string":"Jaguar Land Rover Limited,Coventry,UK,CV3 4LF","institution_ids":["https://openalex.org/I130198913","https://openalex.org/I4210127762"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071227510","display_name":"Saber Fallah","orcid":"https://orcid.org/0000-0002-1298-1040"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Saber Fallah","raw_affiliation_strings":["University of Surrey,Department of Mechanical Engineering Sciences,Guildford,UK,GU2 7XH"],"affiliations":[{"raw_affiliation_string":"University of Surrey,Department of Mechanical Engineering Sciences,Guildford,UK,GU2 7XH","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5044904283"],"corresponding_institution_ids":["https://openalex.org/I28290843"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08715938,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"44","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958999752998352,"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":0.9883000254631042,"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/overtaking","display_name":"Overtaking","score":0.898734450340271},{"id":"https://openalex.org/keywords/replicate","display_name":"Replicate","score":0.7666302919387817},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6330217719078064},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6218979358673096},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.607495129108429},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44643980264663696},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.34496110677719116},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34280097484588623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3257167935371399},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22765305638313293},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.2204696238040924},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1999157965183258}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.898734450340271},{"id":"https://openalex.org/C2781162219","wikidata":"https://www.wikidata.org/wiki/Q26250693","display_name":"Replicate","level":2,"score":0.7666302919387817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6330217719078064},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6218979358673096},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.607495129108429},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44643980264663696},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.34496110677719116},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34280097484588623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3257167935371399},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22765305638313293},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.2204696238040924},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1999157965183258},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/vtc2020-fall49728.2020.9348630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2020-fall49728.2020.9348630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 92nd Vehicular Technology Conference (VTC2020-Fall)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2007.14032","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.14032","pdf_url":"https://arxiv.org/pdf/2007.14032","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3045510960","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2007.14032.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:alma.44SUR_INST:11139920280002346","is_oa":true,"landing_page_url":"https://openresearch.surrey.ac.uk/esploro/outputs/conferencePresentation/Lane-Change-Initiation-and-Planning-Approach-for/99516092502346","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"event"},{"id":"doi:10.48550/arxiv.2007.14032","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2007.14032","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.14032","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.14032","pdf_url":"https://arxiv.org/pdf/2007.14032","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G4806304024","display_name":null,"funder_award_id":"EP/N01300X/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320316529","display_name":"Jaguar Land Rover","ror":"https://ror.org/03b66v461"},{"id":"https://openalex.org/F4320321979","display_name":"University of Surrey","ror":"https://ror.org/00ks66431"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3045510960.pdf","grobid_xml":"https://content.openalex.org/works/W3045510960.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1919962963","https://openalex.org/W1968004977","https://openalex.org/W2047030012","https://openalex.org/W2102770351","https://openalex.org/W2134781609","https://openalex.org/W2162152641","https://openalex.org/W2169261433","https://openalex.org/W2343381408","https://openalex.org/W2343568200","https://openalex.org/W2394607849","https://openalex.org/W2740361510","https://openalex.org/W2761595090","https://openalex.org/W2905161341","https://openalex.org/W2911964244","https://openalex.org/W2952762354","https://openalex.org/W2963915700","https://openalex.org/W2972050850","https://openalex.org/W2989958156","https://openalex.org/W6744454805"],"related_works":["https://openalex.org/W3129566855","https://openalex.org/W2740361510","https://openalex.org/W3172305532","https://openalex.org/W3037434189","https://openalex.org/W2897732922","https://openalex.org/W3136119534","https://openalex.org/W3129514271","https://openalex.org/W2900010431","https://openalex.org/W3011955462","https://openalex.org/W3195170381","https://openalex.org/W2563912433","https://openalex.org/W2891421914","https://openalex.org/W2897768594","https://openalex.org/W3128415459","https://openalex.org/W3207419052","https://openalex.org/W1968004977","https://openalex.org/W2910935795","https://openalex.org/W3206108721","https://openalex.org/W2911956775","https://openalex.org/W3205198810"],"abstract_inverted_index":{"Quantifying":[0],"and":[1,30,62],"encoding":[2],"occupants'":[3],"preferences":[4],"as":[5,75,127],"an":[6,58,108],"objective":[7,60],"function":[8,61],"for":[9,27,57],"the":[10,55,87,114,117,123],"tactical":[11],"decision":[12,88],"making":[13],"of":[14,64,69,104,107,116],"autonomous":[15],"vehicles":[16],"is":[17,73,84,111],"a":[18,24,76],"challenging":[19],"task.":[20],"This":[21],"paper":[22],"presents":[23],"low-complexity":[25],"approach":[26],"lane-change":[28,95],"initiation":[29],"planning":[31,72],"to":[32,99],"facilitate":[33],"highly":[34],"automated":[35],"driving":[36,52],"on":[37],"freeways.":[38],"Conditions":[39],"under":[40],"which":[41],"human":[42,92],"drivers":[43],"find":[44],"different":[45],"manoeuvres":[46],"desirable":[47],"are":[48,120],"learned":[49],"from":[50],"naturalistic":[51],"data,":[53],"eliminating":[54],"need":[56],"engineered":[59],"incorporation":[63],"expert":[65],"knowledge":[66],"in":[67],"form":[68],"rules.":[70],"Motion":[71],"formulated":[74],"finite-horizon":[77],"optimisation":[78],"problem":[79],"with":[80,97],"safety":[81],"constraints.":[82],"It":[83],"shown":[85],"that":[86],"model":[89],"can":[90],"replicate":[91],"drivers'":[93],"discretionary":[94],"decisions":[96],"up":[98],"92%":[100],"accuracy.":[101],"Further":[102],"proof":[103],"concept":[105],"simulation":[106],"overtaking":[109],"manoeuvre":[110],"shown,":[112],"whereby":[113],"actions":[115],"simulated":[118],"vehicle":[119],"logged":[121],"while":[122],"dynamic":[124],"environment":[125],"evolves":[126],"per":[128],"ground":[129],"truth":[130],"data":[131],"recordings.":[132]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}