{"id":"https://openalex.org/W3175667661","doi":"https://doi.org/10.1109/mits.2021.3084534","title":"On-Road Motion Planning for Automated Vehicles at Ulm University","display_name":"On-Road Motion Planning for Automated Vehicles at Ulm University","publication_year":2021,"publication_date":"2021-06-22","ids":{"openalex":"https://openalex.org/W3175667661","doi":"https://doi.org/10.1109/mits.2021.3084534","mag":"3175667661"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2021.3084534","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2012.04028","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026015450","display_name":"Maximilian Graf","orcid":"https://orcid.org/0000-0001-6443-4498"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]},{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian J. Graf","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","ZF Group Friedrichshafen"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"ZF Group Friedrichshafen","institution_ids":["https://openalex.org/I254181534"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035697160","display_name":"Oliver Speidel","orcid":"https://orcid.org/0009-0009-2170-0050"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver M. Speidel","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037434855","display_name":"Jona Ruof","orcid":null},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jona O. Ruof","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085054529","display_name":"Klaus Dietmayer","orcid":"https://orcid.org/0000-0002-1651-014X"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Dietmayer","raw_affiliation_strings":["Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement, Control, and Microtechnology, University of Ulm, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.365,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.5623,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":76,"max":79},"biblio":{"volume":"14","issue":"3","first_page":"121","last_page":"131"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9999,"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":0.9999,"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":0.9989,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9946,"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":[],"concepts":[{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6163384},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.58876395},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.57581955},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.52847284},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.5151645},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49961686},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4865026},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.4189223},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.41305307},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.4123871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3923971},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39171678},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.28882426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2637779},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.19796407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.091352165},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2021.3084534","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2012.04028","pdf_url":"https://arxiv.org/pdf/2012.04028","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2012.04028","pdf_url":"https://arxiv.org/pdf/2012.04028","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"score":0.72,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":31,"referenced_works":["https://openalex.org/W1507290626","https://openalex.org/W1511243153","https://openalex.org/W1909771825","https://openalex.org/W1965455100","https://openalex.org/W2032924574","https://openalex.org/W2056877664","https://openalex.org/W2128060716","https://openalex.org/W2148361676","https://openalex.org/W2152374007","https://openalex.org/W2163590332","https://openalex.org/W2165216595","https://openalex.org/W2192586580","https://openalex.org/W2326206646","https://openalex.org/W2505763307","https://openalex.org/W2538895738","https://openalex.org/W2561432806","https://openalex.org/W2563919921","https://openalex.org/W2565615809","https://openalex.org/W2740957115","https://openalex.org/W2782474430","https://openalex.org/W2904339943","https://openalex.org/W2905450947","https://openalex.org/W2968983352","https://openalex.org/W2970613178","https://openalex.org/W2972399436","https://openalex.org/W2989922365","https://openalex.org/W3009593063","https://openalex.org/W3013777218","https://openalex.org/W3034652687","https://openalex.org/W3103612787","https://openalex.org/W3118494318"],"related_works":["https://openalex.org/W4366563806","https://openalex.org/W4288089255","https://openalex.org/W4213361106","https://openalex.org/W2981830920","https://openalex.org/W2899084033","https://openalex.org/W2577672356","https://openalex.org/W2356380379","https://openalex.org/W2329452785","https://openalex.org/W2134304017","https://openalex.org/W2081647779"],"abstract_inverted_index":{"The":[0],"Institute":[1],"of":[2,49,64],"Measurement,":[3],"Control,":[4],"and":[5,18,43,67,90,107,116,124,140,149],"Microtechnology":[6],"at":[7],"Ulm":[8],"University":[9],"has":[10],"investigated":[11],"advanced":[12],"driver":[13],"assistance":[14],"systems":[15],"for":[16,37,46],"decades":[17],"concentrated,":[19],"in":[20,87],"large":[21],"part,":[22],"on":[23],"autonomous":[24,38],"driving.":[25,39],"It":[26,40],"is":[27,33],"well":[28,53,111],"known":[29],"that":[30],"motion":[31,121],"planning":[32,122],"a":[34,60],"key":[35],"technology":[36],"is,":[41],"first":[42],"foremost,":[44],"responsible":[45],"the":[47,78,105,120,126],"safety":[48],"vehicle":[50,106,134],"passengers":[51],"as":[52,54,110,112],"all":[55],"surrounding":[56],"traffic":[57,89,139],"participants.":[58],"However,":[59],"further":[61],"task":[62],"consists":[63],"providing":[65],"smooth":[66],"comfortable":[68],"driving":[69,146],"behavior.":[70],"In":[71,93],"Ulm,":[72],"we":[73,96,130],"are":[74],"grateful":[75],"to":[76,80],"have":[77],"opportunity":[79],"test":[81,108],"our":[82,102,133],"algorithms":[83],"under":[84],"real":[85],"conditions":[86],"public":[88,137],"diversified":[91],"scenarios.":[92],"this":[94],"article,":[95],"give":[97],"readers":[98],"an":[99],"insight":[100],"into":[101],"work,":[103],"including":[104],"track,":[109],"related":[113],"problems,":[114],"challenges,":[115],"solutions.":[117],"We":[118],"describe":[119],"system":[123],"explain":[125],"implemented":[127],"functionalities.":[128],"Furthermore,":[129],"show":[131],"how":[132],"moves":[135],"through":[136,147],"road":[138],"deals":[141],"with":[142],"challenging":[143],"scenarios,":[144],"e.g.,":[145],"roundabouts":[148],"intersections.":[150]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3175667661","counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2024-12-11T07:31:20.619956","created_date":"2021-07-05"}