{"id":"https://openalex.org/W4392125971","doi":"https://doi.org/10.3390/s24051439","title":"Research on Lane-Changing Decision Making and Planning of Autonomous Vehicles Based on GCN and Multi-Segment Polynomial Curve Optimization","display_name":"Research on Lane-Changing Decision Making and Planning of Autonomous Vehicles Based on GCN and Multi-Segment Polynomial Curve Optimization","publication_year":2024,"publication_date":"2024-02-23","ids":{"openalex":"https://openalex.org/W4392125971","doi":"https://doi.org/10.3390/s24051439","pmid":"https://pubmed.ncbi.nlm.nih.gov/38474973"},"language":"en","primary_location":{"id":"doi:10.3390/s24051439","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051439","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1439/pdf?version=1708678219","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/1424-8220/24/5/1439/pdf?version=1708678219","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102342258","display_name":"Fuyong Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuyong Feng","raw_affiliation_strings":["China North Artificial Intelligence & Innovation Research Institute, Beijing 100072, China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"China North Artificial Intelligence & Innovation Research Institute, Beijing 100072, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100679851","display_name":"Chao Wei","orcid":"https://orcid.org/0000-0002-2278-7057"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chao Wei","raw_affiliation_strings":["National Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology, Beijing 100081, China","School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Special Vehicle Design and Manufacturing Integration Technology, Beijing 100081, China","institution_ids":[]},{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662778","display_name":"Botong Zhao","orcid":"https://orcid.org/0000-0001-6746-7893"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Botong Zhao","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006618768","display_name":"Yanzhi Lv","orcid":"https://orcid.org/0000-0002-1732-7419"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanzhi Lv","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017959684","display_name":"Yuanhao He","orcid":"https://orcid.org/0000-0002-8600-4250"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanhao He","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100679851"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.8658,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83994638,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"24","issue":"5","first_page":"1439","last_page":"1439"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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/T10524","display_name":"Traffic control and management","score":0.9904000163078308,"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/computer-science","display_name":"Computer science","score":0.6491401791572571},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6318751573562622},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5544403195381165},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5125551223754883},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4502066671848297},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4365268051624298},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.432583212852478},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4266173839569092},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.4158407151699066},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4146729111671448},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4130653142929077},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3766251504421234},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3228082060813904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25388577580451965},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2163516879081726},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1329914927482605}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6491401791572571},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6318751573562622},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5544403195381165},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5125551223754883},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4502066671848297},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4365268051624298},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.432583212852478},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4266173839569092},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.4158407151699066},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4146729111671448},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4130653142929077},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3766251504421234},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3228082060813904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25388577580451965},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2163516879081726},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1329914927482605},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24051439","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051439","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1439/pdf?version=1708678219","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:38474973","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38474973","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:10934304","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10934304","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10934304/pdf/sensors-24-01439.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"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:55295369781940549b3e8d511bb416fe","is_oa":true,"landing_page_url":"https://doaj.org/article/55295369781940549b3e8d511bb416fe","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 5, p 1439 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24051439","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24051439","pdf_url":"https://www.mdpi.com/1424-8220/24/5/1439/pdf?version=1708678219","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":0.6200000047683716,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4342916331","display_name":null,"funder_award_id":"52002026","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7570365276","display_name":null,"funder_award_id":"52002","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":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4392125971.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W2011507340","https://openalex.org/W2034059032","https://openalex.org/W2057575978","https://openalex.org/W2111072639","https://openalex.org/W2292169362","https://openalex.org/W2538895738","https://openalex.org/W2556005194","https://openalex.org/W2732126315","https://openalex.org/W2743927437","https://openalex.org/W2769646558","https://openalex.org/W2776402981","https://openalex.org/W2782393959","https://openalex.org/W2787978017","https://openalex.org/W2795543364","https://openalex.org/W2886034533","https://openalex.org/W2905334533","https://openalex.org/W2915916313","https://openalex.org/W2953303875","https://openalex.org/W2970026594","https://openalex.org/W3036205974","https://openalex.org/W3048463148","https://openalex.org/W3091374305","https://openalex.org/W3092124468","https://openalex.org/W3101798601","https://openalex.org/W3116193555","https://openalex.org/W4285266454","https://openalex.org/W4311214676","https://openalex.org/W4312757831","https://openalex.org/W4320025943","https://openalex.org/W6728961562","https://openalex.org/W6757564580"],"related_works":["https://openalex.org/W3162204513","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W2371138613","https://openalex.org/W4391621807","https://openalex.org/W4360995134","https://openalex.org/W2048963458","https://openalex.org/W4248382324","https://openalex.org/W2147052742"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,7,47,52,60,91,108,121,125,136,144],"interactive":[4],"effects":[5],"between":[6],"ego":[8,77],"vehicle":[9,22,131],"and":[10,18,26,36,75,118,129,150,158],"other":[11],"vehicles":[12],"in":[13,59],"a":[14],"dynamic":[15,48,53,92,116],"driving":[16,49,57,79,93],"environment":[17],"proposes":[19],"an":[20],"autonomous":[21],"lane-changing":[23,122],"behavior":[24,80,123],"decision-making":[25,149],"trajectory":[27,101],"planning":[28,102,151],"method":[29,103,146],"based":[30,89],"on":[31,90],"graph":[32],"convolutional":[33,66],"networks":[34,68],"(GCNs)":[35],"multi-segment":[37,98],"polynomial":[38,99],"curve":[39,100],"optimization.":[40],"Firstly,":[41],"hierarchical":[42],"modeling":[43],"is":[44,104],"applied":[45],"to":[46,71,106],"environment,":[50],"aggregating":[51],"interaction":[54,73],"information":[55,74],"of":[56,62,124],"scenes":[58],"form":[61],"graph-structured":[63],"data.":[64],"Graph":[65],"neural":[67],"are":[69,87,133],"employed":[70,105],"process":[72],"generate":[76],"vehicle's":[78],"decision":[81],"commands.":[82],"Subsequently,":[83],"collision-free":[84,112],"drivable":[85],"areas":[86],"constructed":[88],"scene":[94],"information.":[95],"An":[96],"optimization-based":[97],"solve":[107],"optimization":[109],"model,":[110],"obtaining":[111],"motion":[113],"trajectories":[114],"satisfying":[115],"constraints":[117],"efficiently":[119],"completing":[120],"vehicle.":[126],"Finally,":[127],"simulation":[128],"on-road":[130],"experiments":[132],"conducted":[134],"for":[135],"proposed":[137,145],"method.":[138],"The":[139],"experimental":[140],"results":[141],"demonstrate":[142],"that":[143],"outperforms":[147],"traditional":[148],"methods,":[152],"exhibiting":[153],"good":[154],"robustness,":[155],"real-time":[156],"performance,":[157],"strong":[159],"scenario":[160],"generalization":[161],"capabilities.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2025-10-10T00:00:00"}