{"id":"https://openalex.org/W3169933468","doi":"https://doi.org/10.1145/3447548.3467072","title":"Lane Change Scheduling for Autonomous Vehicle: A Prediction-and-Search Framework","display_name":"Lane Change Scheduling for Autonomous Vehicle: A Prediction-and-Search Framework","publication_year":2021,"publication_date":"2021-08-12","ids":{"openalex":"https://openalex.org/W3169933468","doi":"https://doi.org/10.1145/3447548.3467072","mag":"3169933468"},"language":"en","primary_location":{"id":"doi:10.1145/3447548.3467072","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3447548.3467072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 27th ACM SIGKDD Conference on Knowledge Discovery & Data Mining","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://vbn.aau.dk/da/publications/820e9ed7-d591-4a54-b38f-25e849405e2f","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066308099","display_name":"Shuncheng Liu","orcid":"https://orcid.org/0000-0003-3557-6598"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuncheng Liu","raw_affiliation_strings":["University of Electronic Science and Technology of China, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103029832","display_name":"Han Su","orcid":"https://orcid.org/0000-0001-5579-0378"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Su","raw_affiliation_strings":["University of Electronic Science and Technology of China, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060365518","display_name":"Yan Zhao","orcid":"https://orcid.org/0000-0002-0242-3707"},"institutions":[{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Yan Zhao","raw_affiliation_strings":["Aalborg University, Aalborg, Denmark"],"affiliations":[{"raw_affiliation_string":"Aalborg University, Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032503782","display_name":"Kai Zeng","orcid":"https://orcid.org/0009-0005-5788-5668"},"institutions":[{"id":"https://openalex.org/I45928872","display_name":"Alibaba Group (China)","ror":"https://ror.org/00k642b80","country_code":"CN","type":"company","lineage":["https://openalex.org/I45928872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Zeng","raw_affiliation_strings":["Alibaba Group, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Alibaba Group, Hangzhou, China","institution_ids":["https://openalex.org/I45928872"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100603979","display_name":"Kai Zheng","orcid":"https://orcid.org/0000-0002-0217-3998"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Zheng","raw_affiliation_strings":["University of Electronic Science and Technology of China, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066308099"],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":1.9246,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.85281657,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3343","last_page":"3353"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T10524","display_name":"Traffic control and management","score":0.9993000030517578,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.996999979019165,"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/computer-science","display_name":"Computer science","score":0.6371727585792542},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5830011963844299},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5608826875686646},{"id":"https://openalex.org/keywords/competitor-analysis","display_name":"Competitor analysis","score":0.45044058561325073},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4316878318786621},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3543292284011841},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33906978368759155},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3239460587501526},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26115497946739197},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.14734512567520142}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6371727585792542},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5830011963844299},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5608826875686646},{"id":"https://openalex.org/C127576917","wikidata":"https://www.wikidata.org/wiki/Q624630","display_name":"Competitor analysis","level":2,"score":0.45044058561325073},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4316878318786621},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3543292284011841},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33906978368759155},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3239460587501526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26115497946739197},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.14734512567520142},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3447548.3467072","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3447548.3467072","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 27th ACM SIGKDD Conference on Knowledge Discovery & Data Mining","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire/820e9ed7-d591-4a54-b38f-25e849405e2f","is_oa":true,"landing_page_url":"https://vbn.aau.dk/da/publications/820e9ed7-d591-4a54-b38f-25e849405e2f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Liu, S, Su, H, Zhao, Y, Zeng, K & Zheng, K 2021, Lane Change Scheduling for Autonomous Vehicle : A Prediction-and-Search Framework. in KDD 2021 - Proceedings of the 27th ACM SIGKDD Conference on Knowledge Discovery and Data Mining. Association for Computing Machinery (ACM), pp. 3343-3353, 27th ACM SIGKDD Conference on Knowledge Discovery and Data Mining, KDD 2021, Virtual, Online, Singapore, 14/08/2021. https://doi.org/10.1145/3447548.3467072","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/820e9ed7-d591-4a54-b38f-25e849405e2f","is_oa":true,"landing_page_url":"https://vbn.aau.dk/da/publications/820e9ed7-d591-4a54-b38f-25e849405e2f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Liu, S, Su, H, Zhao, Y, Zeng, K & Zheng, K 2021, Lane Change Scheduling for Autonomous Vehicle : A Prediction-and-Search Framework. in KDD 2021 - Proceedings of the 27th ACM SIGKDD Conference on Knowledge Discovery and Data Mining. Association for Computing Machinery (ACM), pp. 3343-3353, 27th ACM SIGKDD Conference on Knowledge Discovery and Data Mining, KDD 2021, Virtual, Online, Singapore, 14/08/2021. https://doi.org/10.1145/3447548.3467072","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G2596761574","display_name":null,"funder_award_id":"61802054, 61972069, 61836007, 61832017","funder_id":"https://openalex.org/F4320334117","funder_display_name":"National Natural Science Foundation of China-Shenzhen Robotics Research Center Project"}],"funders":[{"id":"https://openalex.org/F4320334117","display_name":"National Natural Science Foundation of China-Shenzhen Robotics Research Center Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W633580453","https://openalex.org/W1508441467","https://openalex.org/W1902237438","https://openalex.org/W1967371255","https://openalex.org/W2006820335","https://openalex.org/W2007591713","https://openalex.org/W2039083211","https://openalex.org/W2071969188","https://openalex.org/W2082238201","https://openalex.org/W2101255815","https://openalex.org/W2123746946","https://openalex.org/W2147021187","https://openalex.org/W2424778531","https://openalex.org/W2525447676","https://openalex.org/W2587741066","https://openalex.org/W2624449213","https://openalex.org/W2736502650","https://openalex.org/W2782083374","https://openalex.org/W2803184913","https://openalex.org/W2943420531","https://openalex.org/W2963309363","https://openalex.org/W2963906196","https://openalex.org/W2963914175","https://openalex.org/W2979323404","https://openalex.org/W3035098013","https://openalex.org/W3102516861","https://openalex.org/W3105115779"],"related_works":["https://openalex.org/W2358804928","https://openalex.org/W4225710828","https://openalex.org/W1998528887","https://openalex.org/W2965538880","https://openalex.org/W2143282039","https://openalex.org/W2528370785","https://openalex.org/W4200335562","https://openalex.org/W3175944335","https://openalex.org/W2062829680","https://openalex.org/W2516638161"],"abstract_inverted_index":{"Automation":[0],"in":[1,55,123,147],"road":[2],"vehicles":[3,29,112,175],"is":[4,51,185],"an":[5,36,43],"emerging":[6],"technology":[7],"that":[8,203],"has":[9],"developed":[10],"rapidly":[11],"over":[12],"the":[13,84,99,104,124,148,159,189,204],"last":[14],"decade.":[15],"There":[16],"have":[17],"been":[18],"many":[19],"inter-disciplinary":[20],"challenges":[21],"posed":[22],"on":[23,39,95,173,197],"existing":[24],"transportation":[25],"infrastructure":[26],"by":[27,162],"autonomous":[28,44,78,89,160],"(AV).":[30],"In":[31,98],"this":[32],"paper,":[33],"we":[34],"conduct":[35],"algorithmic":[37],"study":[38],"when":[40],"and":[41,59,118,131,142,176,192,199,215],"how":[42],"vehicle":[45,56,90,161],"should":[46],"change":[47,156],"its":[48,93],"lane,":[49],"which":[50,80],"a":[52,69,114,166],"fundamental":[53],"problem":[54],"automation":[57],"field":[58],"root":[60],"cause":[61],"of":[62,88,110],"most":[63],"'phantom'":[64],"traffic":[65],"jams.":[66],"We":[67],"propose":[68],"prediction-and-search":[70],"framework,":[71],"called":[72],"Cheetah":[73,102,151],"(Change":[74],"lane":[75,85,155],"smart":[76],"for":[77,153,158],"vehicle),":[79],"aims":[81],"to":[82,138,187,212],"optimize":[83],"changing":[86],"maneuvers":[87,157],"while":[91],"minimizing":[92],"impact":[94,172],"surrounding":[96,111],"vehicles.":[97],"prediction":[100],"phase,":[101,150],"learns":[103],"spatio-temporal":[105],"dynamics":[106],"from":[107],"historical":[108],"trajectories":[109],"with":[113,210],"deep":[115],"model":[116],"(GAS-LED)":[117],"predict":[119],"their":[120],"corresponding":[121],"actions":[122],"near":[125],"future.":[126],"A":[127,179],"global":[128],"attention":[129],"mechanism":[130],"state":[132],"sharing":[133],"strategy":[134],"are":[135],"also":[136],"incorporated":[137],"achieve":[139],"higher":[140],"accuracy":[141],"better":[143],"convergence":[144],"efficiency.":[145,216],"Then":[146],"search":[149,183,190],"looks":[152],"optimal":[154],"taking":[163],"into":[164],"account":[165],"few":[167],"factors":[168],"such":[169],"as":[170],"speed,":[171],"other":[174],"safety":[177],"issues.":[178],"tree-based":[180],"adaptive":[181],"beam":[182],"algorithm":[184],"designed":[186],"reduce":[188],"space":[191],"improve":[193],"accuracy.":[194],"Extensive":[195],"experiments":[196],"real":[198],"synthetic":[200],"data":[201],"evidence":[202],"proposed":[205],"framework":[206],"excels":[207],"state-of-the-art":[208],"competitors":[209],"respect":[211],"both":[213],"effectiveness":[214]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}