{"id":"https://openalex.org/W4403895662","doi":"https://doi.org/10.1177/01423312241282832","title":"Integrated automatic parking path planning and trajectory tracking optimization method","display_name":"Integrated automatic parking path planning and trajectory tracking optimization method","publication_year":2024,"publication_date":"2024-10-29","ids":{"openalex":"https://openalex.org/W4403895662","doi":"https://doi.org/10.1177/01423312241282832"},"language":"en","primary_location":{"id":"doi:10.1177/01423312241282832","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312241282832","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5067511961","display_name":"Junren Shi","orcid":"https://orcid.org/0000-0002-2803-9439"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junren Shi","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, China"],"raw_orcid":"https://orcid.org/0000-0002-2803-9439","affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yongkang Su","orcid":"https://orcid.org/0009-0000-2035-8489"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongkang Su","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, China"],"raw_orcid":"https://orcid.org/0009-0000-2035-8489","affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110043923","display_name":"Changhao Piao","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhao Piao","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022276553","display_name":"Yingjie Tang","orcid":"https://orcid.org/0000-0003-1624-0212"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjie Tang","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102750992","display_name":"Yufei Liang","orcid":"https://orcid.org/0000-0003-3685-8714"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufei Liang","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045232772","display_name":"Zhongquan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongquan Wang","raw_affiliation_strings":["School of Automation, Chongqing University of Posts and Telecommunications, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University of Posts and Telecommunications, China","institution_ids":["https://openalex.org/I10535382"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067511961"],"corresponding_institution_ids":["https://openalex.org/I10535382"],"apc_list":null,"apc_paid":null,"fwci":0.2244,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52746516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"47","issue":"14","first_page":"2998","last_page":"3012"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T12546","display_name":"Smart Parking Systems Research","score":0.9980000257492065,"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"}},{"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.694287896156311},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6214756369590759},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5659796595573425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5588896870613098},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5575787425041199},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4881218373775482},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3493753671646118},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3350074589252472},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29937517642974854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27605730295181274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13201773166656494}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.694287896156311},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6214756369590759},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5659796595573425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5588896870613098},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5575787425041199},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4881218373775482},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3493753671646118},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3350074589252472},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29937517642974854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27605730295181274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13201773166656494},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/01423312241282832","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312241282832","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7990221415","display_name":null,"funder_award_id":"No.2022YFE0101000","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2901291754","https://openalex.org/W2905524254","https://openalex.org/W2951097493","https://openalex.org/W2953613959","https://openalex.org/W2965139003","https://openalex.org/W2973185801","https://openalex.org/W2974615694","https://openalex.org/W2983886045","https://openalex.org/W2988993739","https://openalex.org/W3026676041","https://openalex.org/W3028820810","https://openalex.org/W3044031386","https://openalex.org/W3046207687","https://openalex.org/W3094115406","https://openalex.org/W3111257915","https://openalex.org/W3113070793","https://openalex.org/W3135736207","https://openalex.org/W3149449644","https://openalex.org/W3166673355","https://openalex.org/W3176340400","https://openalex.org/W3184337764","https://openalex.org/W3209236165","https://openalex.org/W4239488553","https://openalex.org/W4289521015","https://openalex.org/W4295088482","https://openalex.org/W4298141456","https://openalex.org/W4323659878","https://openalex.org/W4378701402","https://openalex.org/W4381952388","https://openalex.org/W4382344225","https://openalex.org/W4385566291"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W2904060783","https://openalex.org/W4309225183","https://openalex.org/W2015393961","https://openalex.org/W2157008402"],"abstract_inverted_index":{"Current":[0],"automatic":[1],"parking":[2,18,40,104,127,142,170,175,188,200,205,216,249],"systems":[3],"often":[4],"separate":[5],"path":[6,41,111],"planning":[7,42,112],"and":[8,13,43,61,79,89,113,150,154,172,196,211],"trajectory":[9,44],"tracking,":[10],"increasing":[11],"complexity":[12],"failing":[14],"to":[15,95,124,134,183],"meet":[16],"the":[17,50,62,86,97,103,108,140,159,162,168,173,184,187,204,219,224,238,242],"needs":[19],"of":[20,52,92,99,102,144,161,237],"autonomous":[21,39],"cars.":[22],"Consequently,":[23],"this":[24],"study":[25],"presents":[26],"an":[27],"approach":[28],"based":[29],"on":[30,85],"Multi-stage":[31],"Nonlinear":[32],"Model":[33],"Predictive":[34],"Control":[35],"(MSNMPC)":[36],"for":[37,227,245],"integrated":[38,126,141],"tracking":[45,114,155],"optimization.":[46],"The":[47,178],"method":[48,109],"represents":[49],"evolution":[51],"uncertainty":[53,229],"parameters":[54],"over":[55],"time":[56,190],"through":[57],"a":[58,66],"scenario":[59,171],"tree,":[60],"MSNMPC":[63,145],"controller":[64],"with":[65,76,136],"predictive":[67],"horizon":[68],"P":[69,71],"defines":[70],"+":[72],"1":[73],"phases,":[74],"each":[75],"specific":[77],"cost":[78],"constraint":[80],"functions":[81],"that":[82,93,236],"depend":[83],"only":[84],"vehicle":[87],"state":[88],"control":[90,115,185,225,239],"inputs":[91],"phase":[94],"satisfy":[96],"constraints":[98],"all":[100],"phases":[101],"process.":[105],"In":[106,202],"addition,":[107,203],"integrates":[110],"into":[116],"one":[117],"optimization":[118],"problem,":[119],"which":[120],"is":[121,231],"solved":[122],"online":[123],"achieve":[125],"control.":[128],"Simulation":[129],"confirms":[130],"that,":[131,181],"in":[132,167,223,248],"comparison":[133],"MPC":[135],"RRT*":[137],"hierarchical":[138],"control,":[139],"scheme":[143,226],"has":[146,191,207],"less":[147],"lateral":[148],"error":[149,206],"offers":[151],"superior":[152],"flexibility":[153],"performance.":[156],"To":[157],"verify":[158],"generality":[160],"scheme,":[163],"it":[164],"was":[165],"validated":[166],"diagonal":[169],"vertical":[174],"scenario,":[176],"respectively.":[177],"results":[179],"show":[180],"compared":[182],"experiments,":[186,240],"elapsed":[189],"been":[192],"reduced":[193],"by":[194,209],"10.76%":[195],"9.02%,":[197],"respectively,":[198,213],"enhancing":[199],"efficiency.":[201],"decreased":[208],"30.77%":[210],"38.46%,":[212],"thus":[214],"improving":[215],"accuracy.":[217],"Moreover,":[218],"minimum":[220],"safe":[221],"distance":[222],"addressing":[228],"factors":[230],"0.7":[232],"m":[233],"greater":[234],"than":[235],"meeting":[241],"driving":[243],"requirements":[244],"driverless":[246],"vehicles":[247],"scenarios.":[250]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}