{"id":"https://openalex.org/W3093151734","doi":"https://doi.org/10.17169/refubium-28225","title":"Local Trajectory Planning for Autonomous Driving","display_name":"Local Trajectory Planning for Autonomous Driving","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3093151734","doi":"https://doi.org/10.17169/refubium-28225","mag":"3093151734"},"language":"en","primary_location":{"id":"pmh:oai:refubium.fu-berlin.de:fub188/28476","is_oa":true,"landing_page_url":"https://refubium.fu-berlin.de/handle/fub188/28476","pdf_url":"https://refubium.fu-berlin.de/handle/fub188/28476","source":{"id":"https://openalex.org/S4306402444","display_name":"Refubium (Universit\u00e4tsbibliothek der Freien Universit\u00e4t Berlin)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I75951250","host_organization_name":"Freie Universit\u00e4t Berlin","host_organization_lineage":["https://openalex.org/I75951250"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"doc-type:doctoralThesis"},"type":"dissertation","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://refubium.fu-berlin.de/handle/fub188/28476","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038111414","display_name":"Zahra Boroujeni","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Boroujeni, Zahra","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5038111414"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13054499,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9948999881744385,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9948999881744385,"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":0.9670000076293945,"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":0.9588000178337097,"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":0.6803966164588928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3721234202384949},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.35003942251205444},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3240845799446106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2982589602470398},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09837067127227783}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6803966164588928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3721234202384949},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.35003942251205444},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3240845799446106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2982589602470398},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09837067127227783},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:refubium.fu-berlin.de:fub188/28476","is_oa":true,"landing_page_url":"https://refubium.fu-berlin.de/handle/fub188/28476","pdf_url":"https://refubium.fu-berlin.de/handle/fub188/28476","source":{"id":"https://openalex.org/S4306402444","display_name":"Refubium (Universit\u00e4tsbibliothek der Freien Universit\u00e4t Berlin)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I75951250","host_organization_name":"Freie Universit\u00e4t Berlin","host_organization_lineage":["https://openalex.org/I75951250"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"doc-type:doctoralThesis"},{"id":"doi:10.17169/refubium-28225","is_oa":true,"landing_page_url":"https://doi.org/10.17169/refubium-28225","pdf_url":null,"source":{"id":"https://openalex.org/S7407052913","display_name":"Universit\u00e4tsbibliothek der FU Berlin Hochschulschriftenstelle u. Dokumentenserver","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"thesis"}],"best_oa_location":{"id":"pmh:oai:refubium.fu-berlin.de:fub188/28476","is_oa":true,"landing_page_url":"https://refubium.fu-berlin.de/handle/fub188/28476","pdf_url":"https://refubium.fu-berlin.de/handle/fub188/28476","source":{"id":"https://openalex.org/S4306402444","display_name":"Refubium (Universit\u00e4tsbibliothek der Freien Universit\u00e4t Berlin)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I75951250","host_organization_name":"Freie Universit\u00e4t Berlin","host_organization_lineage":["https://openalex.org/I75951250"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"doc-type:doctoralThesis"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3093151734.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2406349093","https://openalex.org/W2137666503","https://openalex.org/W2392100518","https://openalex.org/W3186928667","https://openalex.org/W2023086084","https://openalex.org/W2112499350","https://openalex.org/W3209579200","https://openalex.org/W3016223559","https://openalex.org/W3112558153","https://openalex.org/W2041498829","https://openalex.org/W2472217849","https://openalex.org/W1552695422","https://openalex.org/W1997413996","https://openalex.org/W3201665781","https://openalex.org/W2392624627","https://openalex.org/W3027875256","https://openalex.org/W3039980329","https://openalex.org/W3181547434","https://openalex.org/W2350508288","https://openalex.org/W2389708959"],"abstract_inverted_index":{"This":[0,156,322],"thesis":[1],"presents":[2],"novel":[3],"local":[4],"trajectory":[5,53,66,77,89,179,193,276],"planning":[6,19,54,67,78,194,277],"methods":[7,68,346],"to":[8,105,112,128,182,214],"provide":[9,129],"a":[10,47,75,132,196,252,284],"safe,":[11],"time":[12,309],"optimal,":[13],"and":[14,102,120,144,175,205,208,229,294,297,311,328,341,352],"comfortable":[15,133],"passenger":[16,41,145],"ride.":[17,134],"Trajectory":[18],"is":[20,74,110,126,137,150,158,221,234,262,283,303,333],"an":[21],"essential":[22],"part":[23],"of":[24,239,319,324,335,343],"autonomous":[25,61,212,357],"driving":[26,161],"systems,":[27],"which":[28,79,169,300],"has":[29],"been":[30],"extensively":[31],"studied":[32],"for":[33,160,264,326],"robots":[34],"during":[35],"the":[36,52,60,96,99,103,114,118,141,153,170,176,191,211,227,230,248,316,320,330,344],"past":[37],"few":[38],"decades.":[39],"Providing":[40],"comfort,":[42],"especially":[43],"when":[44],"working":[45],"within":[46],"highly":[48],"dynamic":[49,166],"environment,":[50],"makes":[51],"problem":[55],"more":[56],"challenging.":[57],"Based":[58],"on":[59,95,140,224,354],"car":[62,178,213,231],"situations,":[63],"three":[64,202],"different":[65,245],"are":[69,92,313,347],"proposed.":[70],"The":[71,88,123,135,147,218,258,274,306,339],"first":[72],"method":[73],"reactive":[76],"works":[80],"in":[81,162,168,201,290,299,315],"structured":[82],"road":[83,97],"maps":[84],"with":[85,131,165,267],"reference":[86,331],"paths.":[87],"speed":[90,115,172],"points":[91],"limited":[93,138],"based":[94,139,223],"curvature,":[98],"traffic":[100,269],"rules,":[101],"distances":[104],"obstacles.":[106,240],"A":[107],"new":[108,197,285],"algorithm":[109,289],"developed":[111],"smooth":[113],"profile":[116],"considering":[117],"jerk":[119,124],"acceleration":[121,136],"constraints.":[122],"constraint":[125],"defined":[127],"passengers":[130],"vehicle":[142,148,249],"model":[143,149],"comfort.":[146],"determined":[151],"using":[152],"system":[154],"identification.":[155],"approach":[157,261],"suitable":[159,263],"urban":[163],"areas":[164],"environments":[167],"obstacle":[171],"changes":[173],"frequently":[174],"ego":[177],"must":[180],"react":[181],"obstacles":[183],"while":[184],"avoiding":[185],"instant":[186],"braking":[187],"or":[188,254],"accelerating.":[189],"In":[190],"second":[192],"approach,":[195,278],"artificial":[198],"force":[199],"vector":[200,219,246,259],"dimensions":[203],"(longitudinal":[204,293],"lateral":[206,295],"position,":[207,296],"speed)":[209],"allows":[210],"follow":[215,255],"aspecific":[216],"path.":[217,257],"field":[220,260],"created":[222],"distance":[225],"from":[226],"path":[228,332],"speed.":[232],"It":[233],"locally":[235],"modified":[236,286],"by":[237],"presence":[238],"By":[241],"switching":[242],"between":[243],"two":[244],"fields,":[247],"can":[250],"change":[251],"lane":[253],"another":[256],"complicated":[265],"paths":[266],"low":[268],"such":[270],"as":[271],"parking":[272],"lots.":[273],"third":[275],"Flexible":[279],"Unit":[280],"A\u2217":[281],"(FU-A\u2217),":[282],"tree-based":[287],"search":[288],"3-dimensional":[291],"space":[292],"time)":[298],"lane-changing":[301,327],"decision":[302],"also":[304],"considered.":[305],"energy":[307],"consumption,":[308],"duration,":[310],"displacement":[312],"integrated":[314],"cost":[317],"function":[318],"algorithm.":[321],"combining":[323],"decision-making":[325],"following":[329],"one":[334],"this":[336],"thesis\u2019":[337],"innovations.":[338],"feasibility":[340],"reliability":[342],"designed":[345],"validated":[348],"through":[349],"several":[350],"simulations":[351],"implementation":[353],"Freie":[355],"University":[356],"cars.":[358]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}