{"id":"https://openalex.org/W2950216595","doi":"https://doi.org/10.23919/ecc.2019.8796010","title":"Optimal trajectory planning and decision making in lane change maneuvers near a highway exit","display_name":"Optimal trajectory planning and decision making in lane change maneuvers near a highway exit","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2950216595","doi":"https://doi.org/10.23919/ecc.2019.8796010","mag":"2950216595"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2019.8796010","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103275862","display_name":"Johan Karlsson","orcid":"https://orcid.org/0000-0002-2846-1090"},"institutions":[{"id":"https://openalex.org/I43545212","display_name":"Ehime University","ror":"https://ror.org/017hkng22","country_code":"JP","type":"education","lineage":["https://openalex.org/I43545212"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Johan Karlsson","raw_affiliation_strings":["Graduate School of Science and Engineering, Ehime University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Ehime University","institution_ids":["https://openalex.org/I43545212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007503953","display_name":"Nikolce Murgovski","orcid":"https://orcid.org/0000-0002-0960-7090"},"institutions":[{"id":"https://openalex.org/I43545212","display_name":"Ehime University","ror":"https://ror.org/017hkng22","country_code":"JP","type":"education","lineage":["https://openalex.org/I43545212"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nikolce Murgovski","raw_affiliation_strings":["Graduate School of Science and Engineering, Ehime University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Ehime University","institution_ids":["https://openalex.org/I43545212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016897258","display_name":"Jonas Sj\u00f6berg","orcid":"https://orcid.org/0000-0003-2685-8083"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonas Sjoberg","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3254","last_page":"3260"},"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/T10524","display_name":"Traffic control and management","score":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9986000061035156,"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":0.7940565347671509},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7375777363777161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6408136487007141},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5927312970161438},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5639727711677551},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.516822874546051},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4802808463573456},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4597082734107971},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4119799733161926},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3904399871826172},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29367780685424805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2712877094745636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22511771321296692},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1605949103832245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11038210988044739},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.08955851197242737}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7940565347671509},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7375777363777161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6408136487007141},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5927312970161438},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5639727711677551},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.516822874546051},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4802808463573456},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4597082734107971},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4119799733161926},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3904399871826172},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29367780685424805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2712877094745636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22511771321296692},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1605949103832245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11038210988044739},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.08955851197242737},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc.2019.8796010","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:research.chalmers.se:510045","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/510045","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1846887571","https://openalex.org/W1989962196","https://openalex.org/W2007718857","https://openalex.org/W2047030012","https://openalex.org/W2102104695","https://openalex.org/W2107556430","https://openalex.org/W2139137304","https://openalex.org/W2288721144","https://openalex.org/W2886182327","https://openalex.org/W3029645440","https://openalex.org/W4293775970","https://openalex.org/W6638928605"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2145006118"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,10,28,38,76,84,94],"control":[4,134],"architecture":[5],"for":[6,19,32,42],"autonomous":[7],"driving":[8],"near":[9],"highway":[11],"exit.":[12],"In":[13],"particular,":[14],"detailed":[15],"descriptions":[16],"are":[17],"provided":[18,127],"the":[20,25,44,51,72,80,89,106,108,114,121,129,132],"two":[21,59,64,90],"main":[22],"blocks":[23],"in":[24],"proposed":[26,133],"architecture;":[27],"novel":[29,39],"trajectory":[30,52],"planner":[31],"lateral":[33],"and":[34,37,79,93,103],"longitudinal":[35],"motion,":[36],"decision":[40,109],"manager":[41,110],"choosing":[43],"optimal":[45,73,91],"target":[46],"lane.":[47],"We":[48],"show":[49],"that":[50,97,117],"planning":[53,71,83],"can":[54],"be":[55],"realized":[56],"by":[57],"executing":[58],"sequential":[60],"quadratic":[61],"programs":[62],"as":[63],"model":[65],"predictive":[66],"controllers,":[67],"where":[68],"one":[69,112],"is":[70,82,118,126],"trailing":[74],"of":[75,113,131],"leading":[77],"vehicle":[78],"other":[81],"lane":[85],"change":[86],"maneuver.":[87],"Having":[88],"trajectories":[92,116],"scalarized":[95],"objective":[96],"considers":[98],"safety,":[99],"comfort,":[100],"reference":[101],"tracking":[102],"distance":[104],"to":[105,120],"exit,":[107],"chooses":[111],"planed":[115],"send":[119],"vehicle.":[122],"A":[123],"case":[124],"study":[125],"showing":[128],"effectiveness":[130],"architecture.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}