{"id":"https://openalex.org/W4321459332","doi":"https://doi.org/10.3389/frobt.2023.1120658","title":"Research on automatic emergency steering collision avoidance and stability control of intelligent driving vehicle","display_name":"Research on automatic emergency steering collision avoidance and stability control of intelligent driving vehicle","publication_year":2023,"publication_date":"2023-02-21","ids":{"openalex":"https://openalex.org/W4321459332","doi":"https://doi.org/10.3389/frobt.2023.1120658","pmid":"https://pubmed.ncbi.nlm.nih.gov/36895824"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1120658","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1120658","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1120658/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1120658/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101413755","display_name":"Zhaoyong Liu","orcid":"https://orcid.org/0000-0001-7040-8309"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoyong Liu","raw_affiliation_strings":["Global Technology Co., Ltd, Nantong, China","School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Global Technology Co., Ltd, Nantong, China","institution_ids":[]},{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032680401","display_name":"Gaobo Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaobo Wen","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061579240","display_name":"Wudong Liu","orcid":"https://orcid.org/0000-0003-4323-7844"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wudong Liu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050958528","display_name":"TanXiaoqiang Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"TanXiaoqiang Tan","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081419965","display_name":"Guangqiang Wu","orcid":"https://orcid.org/0000-0001-8013-3572"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guangqiang Wu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5081419965"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.8421,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.70959029,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"1120658","last_page":"1120658"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.996999979019165,"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":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.813811719417572},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.703703761100769},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.6720614433288574},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6056580543518066},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5907077193260193},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.568506121635437},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5328462719917297},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4931332767009735},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48090076446533203},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4605966806411743},{"id":"https://openalex.org/keywords/steering-wheel","display_name":"Steering wheel","score":0.4467132091522217},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4369594156742096},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32904189825057983},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.29503133893013},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16481083631515503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11339247226715088},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08203482627868652}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.813811719417572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.703703761100769},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.6720614433288574},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6056580543518066},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5907077193260193},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.568506121635437},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5328462719917297},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4931332767009735},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48090076446533203},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4605966806411743},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.4467132091522217},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4369594156742096},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32904189825057983},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.29503133893013},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16481083631515503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11339247226715088},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08203482627868652},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2023.1120658","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1120658","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1120658/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:36895824","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36895824","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9988924","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9988924","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC9988924/pdf/frobt-10-1120658.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:707dea165ded473593b597a9f375424b","is_oa":true,"landing_page_url":"https://doaj.org/article/707dea165ded473593b597a9f375424b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 10 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1120658","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1120658","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1120658/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3690766073","display_name":null,"funder_award_id":"Grant No. 52075388","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6599610356","display_name":null,"funder_award_id":"52075388","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4321459332.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W2033845450","https://openalex.org/W2034288771","https://openalex.org/W2153008989","https://openalex.org/W2584288620","https://openalex.org/W2588519174","https://openalex.org/W2896367724","https://openalex.org/W2897510327","https://openalex.org/W3005142315","https://openalex.org/W3015058102","https://openalex.org/W3095498919","https://openalex.org/W3112856749","https://openalex.org/W3120411106","https://openalex.org/W3123943465","https://openalex.org/W3128115655","https://openalex.org/W3138315599","https://openalex.org/W3139458633","https://openalex.org/W3153025913","https://openalex.org/W3153397843","https://openalex.org/W3164776400","https://openalex.org/W3202375294","https://openalex.org/W4210280366","https://openalex.org/W4210389471","https://openalex.org/W4214826520","https://openalex.org/W4284971363","https://openalex.org/W4295836053","https://openalex.org/W4297001336","https://openalex.org/W6659070517","https://openalex.org/W6682805496","https://openalex.org/W6755469226","https://openalex.org/W6755589448","https://openalex.org/W6793697518"],"related_works":["https://openalex.org/W4293794923","https://openalex.org/W4381746183","https://openalex.org/W4293138145","https://openalex.org/W4210660307","https://openalex.org/W2364264314","https://openalex.org/W2991372584","https://openalex.org/W1505404411","https://openalex.org/W4210263804","https://openalex.org/W4321459332","https://openalex.org/W1644418"],"abstract_inverted_index":{"In":[0],"view":[1],"of":[2,23,45,93],"the":[3,12,20,24,41,46,53,68,106,111],"need":[4],"for":[5],"emergency":[6,58],"steering":[7,70,112],"to":[8,51,66,89],"avoid":[9],"collision":[10,27,98,113],"when":[11],"vehicle":[13,25,47,94],"is":[14,49,64],"in":[15],"a":[16,32],"dangerous":[17],"scene,":[18],"and":[19,34,43,80,97,117],"stability":[21,96],"control":[22,35,62,78,85,92],"during":[26],"avoidance.":[28],"This":[29],"paper":[30],"proposes":[31],"planning":[33],"framework.":[36],"A":[37],"path":[38,56],"planner":[39],"considering":[40],"kinematics":[42],"dynamics":[44],"system":[48],"used":[50],"formulate":[52],"safe":[54],"driving":[55,95],"under":[57],"conditions.":[59],"LQR":[60],"lateral":[61],"algorithm":[63,79,86,108],"designed":[65,88],"calculate":[67],"output":[69],"wheel":[71],"angle.":[72],"On":[73],"this":[74],"basis,":[75],"adaptive":[76],"MPC":[77],"four-wheel":[81],"braking":[82],"force":[83],"distribution":[84],"are":[87],"achieve":[90],"coordinated":[91],"avoidance":[99,114],"safety.":[100],"The":[101],"simulation":[102],"results":[103],"show":[104],"that":[105],"proposed":[107],"can":[109],"complete":[110],"task":[115],"quickly":[116],"stably.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}