{"id":"https://openalex.org/W2798490735","doi":"https://doi.org/10.3233/jifs-171186","title":"Hierarchical control strategy towards safe\u00a0driving of autonomous vehicles","display_name":"Hierarchical control strategy towards safe\u00a0driving of autonomous vehicles","publication_year":2018,"publication_date":"2018-04-19","ids":{"openalex":"https://openalex.org/W2798490735","doi":"https://doi.org/10.3233/jifs-171186","mag":"2798490735"},"language":"en","primary_location":{"id":"doi:10.3233/jifs-171186","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jifs-171186","pdf_url":null,"source":{"id":"https://openalex.org/S179157397","display_name":"Journal of Intelligent & Fuzzy Systems","issn_l":"1064-1246","issn":["1064-1246","1875-8967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Fuzzy Systems","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/A5101632953","display_name":"Keji Chen","orcid":"https://orcid.org/0000-0003-1678-6530"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keji Chen","raw_affiliation_strings":["Hubei Key Laboratory of Advanced Technology of Automotive Parts, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Technology of Automotive Parts, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100668714","display_name":"Bo Yang","orcid":"https://orcid.org/0000-0002-8107-8322"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yang","raw_affiliation_strings":["Hubei Key Laboratory of Advanced Technology of Automotive Parts, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Technology of Automotive Parts, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045018563","display_name":"Xiaofei Pei","orcid":"https://orcid.org/0000-0002-8283-9277"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaofei Pei","raw_affiliation_strings":["Hubei Key Laboratory of Advanced Technology of Automotive Parts, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Technology of Automotive Parts, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103105579","display_name":"Xuexun Guo","orcid":"https://orcid.org/0000-0003-2390-3301"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuexun Guo","raw_affiliation_strings":["Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045018563"],"corresponding_institution_ids":["https://openalex.org/I196699116"],"apc_list":null,"apc_paid":null,"fwci":0.6005,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.71316239,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"34","issue":"4","first_page":"2197","last_page":"2212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","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/T10805","display_name":"Vehicle Dynamics and Control Systems","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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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":0.9983999729156494,"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/carsim","display_name":"CarSim","score":0.8638474345207214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6980000734329224},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5988156199455261},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5621532201766968},{"id":"https://openalex.org/keywords/hierarchical-control-system","display_name":"Hierarchical control system","score":0.5456209778785706},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5443243384361267},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.4876324236392975},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4707000255584717},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46920767426490784},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45488643646240234},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4505780041217804},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.43504321575164795},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4319971799850464},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4310113191604614},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4238194227218628},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32334673404693604},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2588595151901245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20546364784240723},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18996283411979675},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.17604073882102966},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.06796032190322876}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.8638474345207214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6980000734329224},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5988156199455261},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5621532201766968},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.5456209778785706},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5443243384361267},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.4876324236392975},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4707000255584717},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46920767426490784},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45488643646240234},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4505780041217804},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.43504321575164795},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4319971799850464},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4310113191604614},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4238194227218628},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32334673404693604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2588595151901245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20546364784240723},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18996283411979675},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.17604073882102966},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.06796032190322876},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/jifs-171186","is_oa":false,"landing_page_url":"https://doi.org/10.3233/jifs-171186","pdf_url":null,"source":{"id":"https://openalex.org/S179157397","display_name":"Journal of Intelligent & Fuzzy Systems","issn_l":"1064-1246","issn":["1064-1246","1875-8967"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Fuzzy Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7200000286102295}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W835401223","https://openalex.org/W1027473064","https://openalex.org/W1517218717","https://openalex.org/W1968911567","https://openalex.org/W1971323770","https://openalex.org/W1971461454","https://openalex.org/W1974002898","https://openalex.org/W1986078841","https://openalex.org/W1987640506","https://openalex.org/W1997595810","https://openalex.org/W1997704083","https://openalex.org/W2003099253","https://openalex.org/W2008814617","https://openalex.org/W2012203444","https://openalex.org/W2052746626","https://openalex.org/W2052927763","https://openalex.org/W2053274108","https://openalex.org/W2058588289","https://openalex.org/W2083838087","https://openalex.org/W2091404216","https://openalex.org/W2091537908","https://openalex.org/W2100634055","https://openalex.org/W2169683785","https://openalex.org/W2170905031","https://openalex.org/W2207774219","https://openalex.org/W2276056053","https://openalex.org/W2277670916","https://openalex.org/W2282033015","https://openalex.org/W2312495449","https://openalex.org/W2344055271","https://openalex.org/W2474795603","https://openalex.org/W2489805925","https://openalex.org/W2500190800","https://openalex.org/W3126389044"],"related_works":["https://openalex.org/W1551671724","https://openalex.org/W2386513265","https://openalex.org/W2002991661","https://openalex.org/W2341389222","https://openalex.org/W2886953507","https://openalex.org/W4384470729","https://openalex.org/W4292814199","https://openalex.org/W2387225069","https://openalex.org/W2077801662","https://openalex.org/W2295615791"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"intelligent":[4],"safe":[5],"driving":[6,68],"system":[7,13,110],"(ISDS)":[8],"for":[9,27,86,102],"autonomous":[10],"vehicles.":[11],"The":[12,107,118,142],"utilizes":[14],"a":[15],"hierarchical":[16],"control":[17,33,95,109],"framework,":[18],"where":[19],"the":[20,28,36,47,50,54,58,62,66,74,78,81,87,92,97,103,114,122,130,133,138,149],"high-level":[21,37],"and":[22,31,61,91,136,151],"low-level":[23,79],"controllers":[24],"are":[25,43],"responsible":[26],"decision":[29],"making":[30],"motion":[32,89,105,143],"respectively.":[34],"In":[35,77],"controller,":[38,80],"two":[39],"finite-state":[40],"machines":[41],"(FSMs)":[42],"applied.":[44],"One":[45],"of":[46,53],"FSMs":[48],"identifies":[49],"relative":[51],"positions":[52],"surrounding":[55,134],"vehicles":[56,135],"to":[57,71,128],"subject":[59,124],"vehicle,":[60],"other":[63],"one":[64],"chooses":[65],"proper":[67],"behaviors":[69],"intelligently":[70],"deal":[72],"with":[73,96,132],"complex":[75],"situations.":[76],"double-model-predictive-control":[82],"structure":[83],"is":[84,100,111,126,145],"designed":[85],"lateral":[88],"control,":[90],"PID":[93],"feedback":[94],"inverse":[98],"model":[99],"employed":[101],"longitudinal":[104],"control.":[106],"proposed":[108],"tested":[112],"in":[113],"Simulink/CarSim":[115],"simulation":[116],"environment.":[117],"results":[119],"show":[120],"that":[121],"controlled":[123],"vehicle":[125],"able":[127],"avoid":[129],"collision":[131],"acquire":[137],"desired":[139],"speed":[140],"autonomously.":[141],"stability":[144],"also":[146],"guaranteed":[147],"during":[148],"accelerating/decelerating":[150],"lane":[152],"changing.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}