{"id":"https://openalex.org/W4388654416","doi":"https://doi.org/10.3390/s23229180","title":"A Dynamic Path-Planning Method for Obstacle Avoidance Based on the Driving Safety Field","display_name":"A Dynamic Path-Planning Method for Obstacle Avoidance Based on the Driving Safety Field","publication_year":2023,"publication_date":"2023-11-14","ids":{"openalex":"https://openalex.org/W4388654416","doi":"https://doi.org/10.3390/s23229180","pmid":"https://pubmed.ncbi.nlm.nih.gov/38005565"},"language":"en","primary_location":{"id":"doi:10.3390/s23229180","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229180","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9180/pdf?version=1699971116","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/22/9180/pdf?version=1699971116","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103181465","display_name":"Ke Liu","orcid":"https://orcid.org/0000-0003-3016-5853"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Liu","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":"https://orcid.org/0000-0003-3016-5853","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726965","display_name":"Honglin Wang","orcid":"https://orcid.org/0000-0001-8863-9973"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honglin Wang","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085535826","display_name":"Yao Fu","orcid":"https://orcid.org/0000-0001-9233-6772"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yao Fu","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027031949","display_name":"Guanzheng Wen","orcid":"https://orcid.org/0000-0002-4401-2818"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanzheng Wen","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087187990","display_name":"Binyu Wang","orcid":"https://orcid.org/0000-0002-8078-6060"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binyu Wang","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5085535826"],"corresponding_institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.0805,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.7379591,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"23","issue":"22","first_page":"9180","last_page":"9180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9962000250816345,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9958999752998352,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7577999234199524},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7460986971855164},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7046601176261902},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5842820405960083},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.560478925704956},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5366171598434448},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5365704298019409},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.52866530418396},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4893624186515808},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46511390805244446},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.45522674918174744},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4509987533092499},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.42886772751808167},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3871012330055237},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.317035436630249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2630671262741089},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25767603516578674},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.24420684576034546},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2257528305053711},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.22080004215240479},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20591071248054504},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10161060094833374},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07864093780517578}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7577999234199524},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7460986971855164},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7046601176261902},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5842820405960083},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.560478925704956},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5366171598434448},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5365704298019409},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.52866530418396},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4893624186515808},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46511390805244446},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.45522674918174744},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4509987533092499},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.42886772751808167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3871012330055237},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.317035436630249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2630671262741089},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25767603516578674},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.24420684576034546},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2257528305053711},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.22080004215240479},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20591071248054504},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10161060094833374},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07864093780517578},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23229180","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229180","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9180/pdf?version=1699971116","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:38005565","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38005565","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10675226","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10675226","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10675226/pdf/sensors-23-09180.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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:b80adfad9f0e418c8b64f0dedaba9362","is_oa":true,"landing_page_url":"https://doaj.org/article/b80adfad9f0e418c8b64f0dedaba9362","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":"Sensors, Vol 23, Iss 22, p 9180 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23229180","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229180","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9180/pdf?version=1699971116","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2928567236","display_name":null,"funder_award_id":"20210231","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4165850343","display_name":null,"funder_award_id":"52102463","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"},{"id":"https://openalex.org/F4320326884","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388654416.pdf"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1992085841","https://openalex.org/W2098519927","https://openalex.org/W2103120971","https://openalex.org/W2152687842","https://openalex.org/W2192586580","https://openalex.org/W2294480821","https://openalex.org/W2306644740","https://openalex.org/W2341848647","https://openalex.org/W2530088678","https://openalex.org/W2557741120","https://openalex.org/W2793432429","https://openalex.org/W2905524254","https://openalex.org/W2912361519","https://openalex.org/W2973864946","https://openalex.org/W3023830629","https://openalex.org/W3028729520","https://openalex.org/W3100948105","https://openalex.org/W3108081931","https://openalex.org/W3115050275","https://openalex.org/W3116367434","https://openalex.org/W3125609744","https://openalex.org/W3159416646","https://openalex.org/W3198414597","https://openalex.org/W3203765463","https://openalex.org/W4210607981","https://openalex.org/W4319971708","https://openalex.org/W4327969878","https://openalex.org/W4362610213","https://openalex.org/W4386702779","https://openalex.org/W6675683402","https://openalex.org/W6730308440","https://openalex.org/W6856285318"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W4381746183","https://openalex.org/W3200041777","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W3119736302"],"abstract_inverted_index":{"Establishing":[0],"an":[1,171],"accurate":[2],"and":[3,18,30,81,87,91,130,181,206,212,241,261,296,321,335],"computationally":[4],"efficient":[5,78],"model":[6],"for":[7,26,49,164,337],"driving":[8,55,76,102,132,153],"risk":[9],"assessment,":[10],"considering":[11],"the":[12,54,62,71,97,136,141,147,151,156,165,178,185,188,226,230,274,278,284,289,293,297,301,305,313,328],"influence":[13],"of":[14,61,73,108,190,277,304,316,330],"vehicle":[15,84,149,295,299],"motion":[16,286],"state":[17],"kinematic":[19,85,180],"characteristics":[20],"on":[21,53,146,229,283],"path":[22,79,175,191,214,251,308],"planning,":[23],"is":[24,105,160,193,215,309],"crucial":[25],"generating":[27],"safe,":[28],"comfortable,":[29],"easily":[31],"trackable":[32],"obstacle":[33,50,93,173,279,298,306,331],"avoidance":[34,51,94,174,280,307,315,332],"paths.":[35,95],"To":[36],"address":[37,70],"this":[38,40],"topic,":[39],"paper":[41],"proposes":[42],"a":[43,100,109,116,123,131,196,210],"novel":[44],"dual-layered":[45],"dynamic":[46,121,182],"path-planning":[47,223],"method":[48,227,326],"based":[52,228,282],"safety":[56,103,154],"field":[57,104,111,118,125,133,143,234],"(DSF).":[58],"The":[59,324],"contributions":[60],"proposed":[63,222,325],"approach":[64],"lie":[65],"in":[66,340],"its":[67],"ability":[68],"to":[69,83,256,267],"challenges":[72],"accurately":[74],"modeling":[75],"risk,":[77],"smoothing":[80,192],"adaptability":[82],"characteristics,":[86],"providing":[88],"collision-free,":[89],"curvature-continuous,":[90],"adaptable":[92],"In":[96,184],"upper":[98],"layer,":[99,187],"comprehensive":[101,152],"constructed,":[106],"composed":[107],"potential":[110,124,233],"generated":[112,119,126,134],"by":[113,120,127,135,254,265],"static":[114],"obstacles,":[115,122],"kinetic":[117],"lane":[128],"boundaries,":[129],"target":[137],"position.":[138],"By":[139,202],"analyzing":[140],"virtual":[142],"forces":[144],"exerted":[145],"ego":[148,294],"within":[150],"field,":[155],"resultant":[157],"force":[158],"direction":[159],"utilized":[161],"as":[162,250],"guidance":[163],"vehicle's":[166,179,285],"forward":[167],"motion.":[168],"This":[169],"generates":[170,239],"initial":[172],"that":[176,220],"satisfies":[177,327],"constraints.":[183],"lower":[186],"problem":[189],"transformed":[194],"into":[195],"standard":[197],"quadratic":[198],"programming":[199],"(QP)":[200],"form.":[201],"optimizing":[203],"discrete":[204],"waypoints":[205],"fitting":[207],"polynomial":[208],"curves,":[209],"curvature-continuous":[211,242],"smooth":[213],"obtained.":[216],"Simulation":[217],"results":[218],"demonstrate":[219],"our":[221,270],"algorithm":[224,271],"outperforms":[225],"improved":[231],"artificial":[232],"(APF).":[235],"It":[236],"not":[237],"only":[238],"collision-free":[240],"paths":[243],"but":[244],"also":[245],"significantly":[246],"reduces":[247],"parameters":[248],"such":[249],"curvature":[252,258],"(reduced":[253,264],"62.29%":[255],"87.32%),":[257],"variation":[259],"rate,":[260],"heading":[262],"angle":[263],"34.11%":[266],"72.06%).":[268],"Furthermore,":[269],"dynamically":[272],"adjusts":[273],"starting":[275,302],"position":[276,303],"maneuver":[281],"state.":[287],"As":[288],"relative":[290],"velocity":[291],"between":[292],"increases,":[300],"adjusted":[310],"accordingly,":[311],"enabling":[312],"proactive":[314],"stationary":[317],"or":[318],"moving":[319],"single":[320],"multiple":[322],"obstacles.":[323],"requirements":[329],"safety,":[333],"comfort,":[334],"stability":[336],"intelligent":[338],"vehicles":[339],"complex":[341],"environments.":[342]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}