{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T21:32:45Z","timestamp":1774992765665,"version":"3.50.1"},"reference-count":56,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T00:00:00Z","timestamp":1763424000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T00:00:00Z","timestamp":1763424000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int. J. ITS Res."],"published-print":{"date-parts":[[2025,12]]},"DOI":"10.1007\/s13177-025-00565-x","type":"journal-article","created":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T10:37:49Z","timestamp":1763462269000},"page":"2168-2189","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Intelligent Local Path Planning for Autonomous Driving: Integrating Quintic Splines with Predictive Control"],"prefix":"10.1007","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9191-1824","authenticated-orcid":false,"given":"Wael A.","family":"Farag","sequence":"first","affiliation":[]},{"given":"Omar","family":"Ali","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,11,18]]},"reference":[{"issue":"6","key":"565_CR1","first-page":"390","volume":"7","author":"W Farag","year":"2019","unstructured":"Farag, W.: Safe-driving cloning by deep learning for autonomous cars. Int. J. Adv. Mechatron. Syst. Inderscience Publishers 7(6), 390\u2013397 (2019)","journal-title":"Int. J. Adv. Mechatron. Syst. Inderscience Publishers"},{"key":"565_CR2","doi-asserted-by":"crossref","unstructured":"Wael Farag, Z., Saleh: Road Lane-Lines Detection in Real-Time for Advanced Driving Assistance Systems, Intern. Conf. on Innovation and Intelligence for Informatics, Computing, and Technologies (3ICT\u201918), Bahrain, 18\u201320 Nov., (2018)","DOI":"10.1109\/3ICT.2018.8855797"},{"key":"565_CR3","doi-asserted-by":"crossref","unstructured":"Farag, W.: Traffic signs classification by deep learning for advanced driving assistance systems. In: Intelligent Decision Technologies, vol. 13, pp. 215\u2013231. IOS (2019). 3","DOI":"10.3233\/IDT-180064"},{"key":"565_CR4","doi-asserted-by":"crossref","unstructured":"Farag, W., Saleh, Z.: An Advanced Vehicle Detection and Tracking Scheme for Self-Driving Cars, 2nd Smart Cities Symposium (SCS\u201919), IET Digital Library, Bahrain, 24\u201326 March, (2019)","DOI":"10.1049\/cp.2019.0192"},{"issue":"3","key":"565_CR5","doi-asserted-by":"publisher","first-page":"205","DOI":"10.3233\/KES-180385","volume":"22","author":"W Farag","year":"2018","unstructured":"Farag, W., IOS Press: Recognition of traffic signs by convolutional neural nets for self-driving vehicles. International Journal of Knowledge-based and Intelligent Engineering Systems 22(3), 205\u2013214 (2018)","journal-title":"International Journal of Knowledge-based and Intelligent Engineering Systems"},{"key":"565_CR6","first-page":"18","volume":"3ICT18","author":"Z Wael Farag","year":"2018","unstructured":"Wael Farag, Z., Saleh: Behavior cloning for autonomous driving using convolutional neural Networks, Intern. Conf. On innovation and intelligence for Informatics, Computing, and technologies. Bahrain. 3ICT18, 18\u201320 (2018)","journal-title":"Bahrain"},{"key":"565_CR7","doi-asserted-by":"crossref","unstructured":"Wael Farag, Z Saleh: Tuning of PID track followers for autonomous driving. In: Intern. Conf. On Innovation and Intelligence for Informatics, Computing, and Technologies, vol. 3ICT18, pp. 18\u201320. Bahrain (2018) https:\/\/ieeexplore.ieee.org\/document\/8855773","DOI":"10.1109\/3ICT.2018.8855773"},{"key":"565_CR8","unstructured":"Ketan B Patel, Hong Chin Lin, Alan D Berger, Wael Farag, Aftab Ali Khan, \"EDC draft force based ride controller\", US Patent 6196327, 2001.\u00a0https:\/\/patentimages.storage.googleapis.com\/89\/d6\/a3\/9ba05bd7c9b6f4\/US6196327.pdf"},{"issue":"1","key":"565_CR9","doi-asserted-by":"publisher","first-page":"70","DOI":"10.1504\/IJMIC.2019.101956","volume":"32","author":"K Shao","year":"2019","unstructured":"Shao, K., Zheng, J., Huang, K.: Robust active steering control for vehicle rollover prevention. International Journal of Modelling, Identification and Control 32(1), 70\u201384 (2019)","journal-title":"International Journal of Modelling, Identification and Control"},{"key":"565_CR10","doi-asserted-by":"publisher","unstructured":"Alejandro, I., Cervantes, I., Francisco, J.: Local path planning for autonomous vehicles based on the natural behavior of the biological Action-Perception motion. Energies. 15(5) (2021). https:\/\/doi.org\/10.3390\/en15051769","DOI":"10.3390\/en15051769"},{"issue":"5","key":"565_CR11","doi-asserted-by":"publisher","first-page":"1826","DOI":"10.1109\/TITS.2019.2913998","volume":"21","author":"L Claussmann","year":"2020","unstructured":"Claussmann, L., Revilloud, M., Gruyer, D., Glaser, S.: A review of motion planning for highway autonomous driving. IEEE Trans. Intell. Transp. Syst. 21(5), 1826\u20131848 (2020). https:\/\/doi.org\/10.1109\/TITS.2019.2913998","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"565_CR12","doi-asserted-by":"crossref","unstructured":"Wael, A., Farag: Kalman-filter-based sensor fusion applied to road-objects detection and tracking for autonomous vehicles, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, August (2021)","DOI":"10.1177\/0959651820975523"},{"key":"565_CR13","doi-asserted-by":"crossref","unstructured":"Wael, A., Farag: A lightweight vehicle detection and tracking technique for advanced driving assistance systems. J Intel Fuzzy Syst 39(3). (2020)","DOI":"10.3233\/JIFS-190634"},{"key":"565_CR14","doi-asserted-by":"publisher","DOI":"10.36909\/jer.10993","author":"W Farag","year":"2021","unstructured":"Farag, W.: Multiple Road-Objects detection and tracking for autonomous driving. J. Eng. Res. Sep. (2021). https:\/\/doi.org\/10.36909\/jer.10993","journal-title":"J. Eng. Res. Sep."},{"issue":"2","key":"565_CR15","doi-asserted-by":"publisher","first-page":"265","DOI":"10.2174\/2213275912666190126095547","volume":"13","author":"A Wael","year":"2020","unstructured":"Wael, A., Farag: Real-Time detection of road Lane-Lines for autonomous driving. Recent. Adv. Comput. Sci. Commun. 13(2), 265\u2013274 (2020)","journal-title":"Recent. Adv. Comput. Sci. Commun."},{"issue":"4","key":"565_CR16","doi-asserted-by":"publisher","first-page":"358","DOI":"10.12720\/jait.13.4.358-367","volume":"13","author":"JS Tjiharjadi","year":"2022","unstructured":"Tjiharjadi, J.S., Razali, S.: Hamzah Asyrani Sulaiman: A systematic literature review of Multi-agent pathfinding for maze research. J Adv Inform Technol 13(4), 358\u2013367 (2022)","journal-title":"J Adv Inform Technol"},{"issue":"2","key":"565_CR17","doi-asserted-by":"publisher","first-page":"309","DOI":"10.1007\/s40313-020-00666-w","volume":"32","author":"W Farag","year":"2021","unstructured":"Farag, W.: Real-Time autonomous vehicle localization based on particle and unscented Kalman filters. J. Control Autom. Electr. Syst. 32(2), 309\u2013325 (2021). https:\/\/doi.org\/10.1007\/s40313-020-00666-w","journal-title":"J. Control Autom. Electr. Syst."},{"key":"565_CR18","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2024.104630","volume":"174","author":"M Reda","year":"2024","unstructured":"Reda, M., Onsy, A., Haikal, A.Y.: Path planning algorithms in the autonomous driving system: A comprehensive review. Robot. Auton. Syst. 174, 104630 (2024). https:\/\/doi.org\/10.1016\/j.robot.2024.104630","journal-title":"Robot. Auton. Syst."},{"key":"565_CR19","doi-asserted-by":"publisher","unstructured":"Farag, W.: Complex track maneuvering using real-time MPC control for autonomous driving. Int. J. Comput. Digit. Syst. 90(5) (2020). https:\/\/doi.org\/10.12785\/ijcds\/090511","DOI":"10.12785\/ijcds\/090511"},{"key":"565_CR20","doi-asserted-by":"publisher","unstructured":"Ricardo, J.: and Carlos J. Path Planning for Autonomous Mobile Robots: A Review. Sensors 21(23) (2020). https:\/\/doi.org\/10.3390\/s21237898","DOI":"10.3390\/s21237898"},{"key":"565_CR21","doi-asserted-by":"publisher","unstructured":"Xu, W., Wang, Q., Dolan, J.M.: Autonomous Vehicle Motion Planning via Recurrent Spline Optimization, 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi\u2019an, China, 2021, pp. 7730\u20137736. https:\/\/doi.org\/10.1109\/ICRA48506.2021.9560867","DOI":"10.1109\/ICRA48506.2021.9560867"},{"issue":"1","key":"565_CR22","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1007\/s13177-020-00226-1","volume":"19","author":"W Farag","year":"2021","unstructured":"Farag, W.: Complex-Track following in Real-Time using Model-Based predictive control. Int. J. Intell. Transp. Syst. Res. 19(1), 112\u2013127 (2021). https:\/\/doi.org\/10.1007\/s13177-020-00226-1","journal-title":"Int. J. Intell. Transp. Syst. Res."},{"key":"565_CR23","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.2335","author":"W Farag","year":"2021","unstructured":"Farag, W.: Real-time NMPC path tracker for autonomous vehicles. Asian Journal of Control (2021). https:\/\/doi.org\/10.1002\/asjc.2335","journal-title":"Asian Journal of Control"},{"key":"565_CR24","unstructured":"Wen, J., Zhang, X., Bi, Q., Liu, H., Yuan, J., Fang, Y.: G2VD Planner: Efficient Motion Planning With Grid-based Generalized Voronoi Diagrams, in the IEEE Transactions on Automation Science and Engineering, (2024). https:\/\/arxiv.org\/abs\/2201.12981"},{"key":"565_CR25","doi-asserted-by":"publisher","unstructured":"Tan, C.S., Mohd-Mokhtar, R., Arshad, M.R.: A Comprehensive Review of Coverage Path Planning in Robotics Using Classical and Heuristic Algorithms, in IEEE Access, vol. 9, pp. 119310\u2013119342, (2021). https:\/\/doi.org\/10.1109\/ACCESS.2021.3108177","DOI":"10.1109\/ACCESS.2021.3108177"},{"key":"565_CR26","doi-asserted-by":"publisher","unstructured":"Ping Qin, F., Liu, Z., Guo, Z., Li, Shang, Y.: Hierarchical Collision-free Trajectory Planning for Autonomous Vehicles Based on Improved Artificial Potential Field Method. Transactions of the Institute of Measurement and Control, Accessed May 25, 2024. (2023). https:\/\/doi.org\/10.1177\/01423312231186684","DOI":"10.1177\/01423312231186684"},{"issue":"7","key":"565_CR27","doi-asserted-by":"publisher","first-page":"7258","DOI":"10.1109\/TITS.2021.3067858","volume":"23","author":"MR Siddiqi","year":"2022","unstructured":"Siddiqi, M.R., Milani, S., Jazar, R.N., Marzbani, H.: Ergonomic path planning for autonomous Vehicles-An investigation on the effect of transition curves on motion sickness. IEEE Trans. Intell. Transp. Syst. 23(7), 7258\u20137269 (2022). https:\/\/doi.org\/10.1109\/TITS.2021.3067858","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"565_CR28","doi-asserted-by":"publisher","unstructured":"Qian, X., Navarro, I., de La Fortelle, A., Moutarde, F.: Motion planning for urban autonomous driving using B\u00e9zier curves and MPC, 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), Rio de Janeiro, Brazil, pp. 826\u2013833, (2016). https:\/\/doi.org\/10.1109\/ITSC.2016.7795651","DOI":"10.1109\/ITSC.2016.7795651"},{"key":"565_CR29","doi-asserted-by":"publisher","unstructured":"Farag, W.A., Quintana, V.H., Lambert-Torres, G.: Genetic algorithms and back-propagation: a comparative study, Conference Proceedings. IEEE Canadian Conference on Electrical and Computer Engineering (Cat. No.98TH8341), Waterloo, ON, Canada, pp. 93\u201396 vol.1, (1998). https:\/\/doi.org\/10.1109\/CCECE.1998.682559","DOI":"10.1109\/CCECE.1998.682559"},{"key":"565_CR30","doi-asserted-by":"publisher","unstructured":"Rucco, P.B., Sujit, A.P., Aguiar, J.B., de Sousa, Pereira, F.L.: Optimal rendezvous trajectory for unmanned Aerial-Ground vehicles. IEEE Trans. Aerosp. Electron. Syst. 54(2), 834\u2013847 (April 2018). https:\/\/doi.org\/10.1109\/TAES.2017.2767958","DOI":"10.1109\/TAES.2017.2767958"},{"key":"565_CR31","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2024.3380745","author":"P Lin","year":"2024","unstructured":"Lin, P., Javanmardi, E., Tsukada, M.: Clothoid Curve-based Emergency-Stopping path planning with adaptive potential field for autonomous vehicles. IEEE Trans. Veh. Technol (2024). https:\/\/doi.org\/10.1109\/TVT.2024.3380745","journal-title":"IEEE Trans. Veh. Technol"},{"key":"565_CR32","doi-asserted-by":"crossref","unstructured":"Kong, J., Pfeiffer, M., Schildbach, G., Borrelli, F.: Kinematic and Dynamic Vehicle Models for Autonomous Driving, in IEEE Intelligent Vehicles Symposium (IV), Seoul, South Korea, 28 June 2015","DOI":"10.1109\/IVS.2015.7225830"},{"key":"565_CR33","unstructured":"Sharkawy, A.-N., Chapter 5: Minimum Jerk Trajectory Generation for Straight and Curved Movements: Mathematical Analysis, Advances in Robotics: Reviews, Book Series, Vol. 2, pp. 187\u2013201, Publishing, I.F.S.A.: S. L., ISBN: 978-84-09-25863-5. (2021)"},{"issue":"3","key":"565_CR34","doi-asserted-by":"publisher","first-page":"206","DOI":"10.12720\/jait.12.3.206-213","volume":"12","author":"J Dalle","year":"2021","unstructured":"Dalle, J., Hastuti, D., Prasetya, M.R.A.: The use of an application running on the ant colony algorithm in determining the nearest path between two points. J. Adv. Inform. Technol 12(3), 206\u2013213 (2021). https:\/\/doi.org\/10.12720\/jait.12.3.206-213","journal-title":"J. Adv. Inform. Technol"},{"key":"565_CR35","first-page":"335","volume":"28","author":"M Wael Farag","year":"2024","unstructured":"Wael Farag, M., Nadeem: Enhanced real-time road-vehicles\u2019 detection and tracking for driving assistance. Int. J. Knowledge-based Intell. Eng. Syst. 28, 335\u2013357 (2024)","journal-title":"Int. J. Knowledge-based Intell. Eng. Syst."},{"key":"565_CR36","unstructured":"Eigen: (2024). accessed on 31st Oct\u00a0http:\/\/eigen.tuxfamily.org\/index.php?title=Main_Page."},{"key":"565_CR37","doi-asserted-by":"publisher","DOI":"10.1007\/s43684-021-00015-x","volume":"1","author":"X Wang","year":"2021","unstructured":"Wang, X., Qi, X., Wang, P., et al.: Decision making framework for autonomous vehicles driving behavior in complex scenarios via hierarchical state machine. Auton. Intell. Syst. 1, 10 (2021). https:\/\/doi.org\/10.1007\/s43684-021-00015-x","journal-title":"Auton. Intell. Syst."},{"key":"565_CR38","doi-asserted-by":"crossref","unstructured":"Werling, M., Ziegler, J., Kammel, S., Thrun, S.: Optimal trajectory generation for dynamic street scenarios in a Frenet Frame. IEEE International Conference on Robotics and Automation (ICRA). (2010)","DOI":"10.1109\/ROBOT.2010.5509799"},{"key":"565_CR39","doi-asserted-by":"publisher","first-page":"20102","DOI":"10.1109\/ACCESS.2022.3152187","volume":"10","author":"D Kim","year":"2022","unstructured":"Kim, D., Kim, G., Kim, H., Huh, K.: A Hierarchical Motion Planning Framework for Autonomous Driving in Structured Highway Environments. IEEE Access 10, 20102\u201320117 (2022). https:\/\/doi.org\/10.1109\/ACCESS.2022.3152187","journal-title":"IEEE Access"},{"key":"565_CR40","doi-asserted-by":"publisher","unstructured":"Ziegler, J., et al.: Making Bertha Drive\u2014An Autonomous Journey on a Historic Route, in IEEE Intelligent Transportation Systems Magazine, vol. 6, no. 2, pp. 8\u201320, (2014). Summer\u00a0https:\/\/doi.org\/10.1109\/MITS.2014.2306552","DOI":"10.1109\/MITS.2014.2306552"},{"key":"565_CR41","doi-asserted-by":"publisher","unstructured":"Paden, M., \u010c\u00e1p, S.Z., Yong, D., Yershov, Frazzoli, E.: A survey of motion planning and control techniques for Self-Driving urban vehicles. IEEE Trans. Intell. Veh. 1(1), 33\u201355 (2016). https:\/\/doi.org\/10.1109\/TIV.2016.2578706","DOI":"10.1109\/TIV.2016.2578706"},{"key":"565_CR42","doi-asserted-by":"publisher","unstructured":"Gonz\u00e1lez, J., P\u00e9rez, V., Milan\u00e9s, Nashashibi, F.: A review of motion planning techniques for automated vehicles. IEEE Trans. Intell. Transp. Syst. 17(4), 1135\u20131145 (2016). https:\/\/doi.org\/10.1109\/TITS.2015.2498841","DOI":"10.1109\/TITS.2015.2498841"},{"issue":"2","key":"565_CR43","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0263841","volume":"17","author":"H Wang","year":"2022","unstructured":"Wang, H., Lou, S., Jing, J., Wang, Y., Liu, W., Liu, T.: The EBS-A* Algorithm: An Improved A* Algorithm for Path Planning. PLOS ONE 17(2), e0263841 (2022). https:\/\/doi.org\/10.1371\/journal.pone.0263841","journal-title":"PLOS ONE"},{"key":"565_CR44","doi-asserted-by":"publisher","unstructured":"Chang, T.: and Guofu Tian. Hybrid A-Star Path Planning Method Based on Hierarchical Clustering and Trichotomy. Appl. Sci 14(13) 5582. Accessed November 5, 2024. (2023). https:\/\/doi.org\/10.3390\/app14135582","DOI":"10.3390\/app14135582"},{"key":"565_CR45","doi-asserted-by":"publisher","unstructured":"Wang, H., X., Zhou, J., Li, Z., Yang, Li., Cao. \"Improved RRT* Algorithm for Disinfecting Robot Path Planning.\" Sensors 24(5), 1520 (2023). https:\/\/doi.org\/10.3390\/s24051520","DOI":"10.3390\/s24051520"},{"key":"565_CR46","doi-asserted-by":"publisher","unstructured":"Yang, F., Fang, X., Gao, F., Zhou, X., Li, H., Jin, H.: and Yu Song. Obstacle Avoidance Path Planning for UAV Based on Improved RRT Algorithm. Discrete Dynamics in Nature and Society, no. 1 (2021): 4544499. Accessed November 5, 2024. (2022). https:\/\/doi.org\/10.1155\/2022\/4544499","DOI":"10.1155\/2022\/4544499"},{"issue":"13","key":"565_CR47","doi-asserted-by":"publisher","first-page":"1882","DOI":"10.1049\/iet-its.2020.0355","volume":"14","author":"L Zheng","year":"2020","unstructured":"Zheng, L., Zeng, P., Yang, W., Li, Y., Zhan, Z.: B\u00e9Zier Curve-based Trajectory Planning for Autonomous Vehicles with Collision Avoidance. IET Intelligent Transport Systems 14(13), 1882\u20131891 (2020). https:\/\/doi.org\/10.1049\/iet-its.2020.0355","journal-title":"IET Intelligent Transport Systems"},{"key":"565_CR48","doi-asserted-by":"publisher","unstructured":"Wael, A., Farag, M., Fayed: Advancing vehicle detection for autonomous driving: integrating computer vision and machine learning techniques for real-world deployment, Journal of Control and Decision, Taylor & Francis, (2025). https:\/\/doi.org\/10.1080\/23307706.2025.2469893","DOI":"10.1080\/23307706.2025.2469893"},{"key":"565_CR49","doi-asserted-by":"publisher","unstructured":"Wael, A., Farag, M., Helal: Real-time localization with probabilistic maps and unscented kalman filtering: a dynamic sensor fusion approach, Journal of Control and Decision, Taylor & Francis, (2024). https:\/\/doi.org\/10.1080\/23307706.2024.2417218","DOI":"10.1080\/23307706.2024.2417218"},{"key":"565_CR50","doi-asserted-by":"publisher","unstructured":"Farag, W.A., Quintana, V.H., Lambert-Torres, G.: Neuro-fuzzy modeling of complex systems using genetic algorithms, Proceedings of International Conference on Neural Networks (ICNN\u201997), Houston, TX, USA, pp. 444\u2013449 vol.1, (1997). https:\/\/doi.org\/10.1109\/ICNN.1997.611709","DOI":"10.1109\/ICNN.1997.611709"},{"issue":"5","key":"565_CR51","doi-asserted-by":"publisher","first-page":"517","DOI":"10.1504\/IJCSE.2021.118100","volume":"24","author":"W Farag","year":"2021","unstructured":"Farag, W.: Real-time lidar and radar fusion for road-objects detection and tracking. Int. J. Comput. Sci. Eng 24(5), 517\u2013529 (2021). https:\/\/doi.org\/10.1504\/IJCSE.2021.118100","journal-title":"Int. J. Comput. Sci. Eng"},{"issue":"3","key":"565_CR52","doi-asserted-by":"publisher","first-page":"138","DOI":"10.2478\/jee-2020-0021","volume":"71","author":"W Farag","year":"2020","unstructured":"Farag, W.: Road-objects tracking for autonomous driving using lidar and radar fusion. J. Electr. Eng. 71(3), 138\u2013149 (2020). https:\/\/doi.org\/10.2478\/jee-2020-0021","journal-title":"J. Electr. Eng."},{"issue":"3","key":"565_CR53","doi-asserted-by":"publisher","first-page":"349","DOI":"10.12785\/ijcds\/090302","volume":"9","author":"A Wael","year":"2020","unstructured":"Wael, A., Farag: A comprehensive Real-Time Road-Lanes tracking technique for autonomous driving. Int. J. Comput. Digit. Syst. 9(3), 349\u2013362 (2020). https:\/\/doi.org\/10.12785\/ijcds\/090302","journal-title":"Int. J. Comput. Digit. Syst."},{"issue":"3A","key":"565_CR54","doi-asserted-by":"publisher","first-page":"109","DOI":"10.36909\/jer.11073","volume":"10","author":"A Wael","year":"2022","unstructured":"Wael, A., Farag: Bayesian localization in Real-Time using probabilistic maps and Unscented-Kalman-Filters. J. Eng. Res. 10(3A), 109\u2013132 (2022). https:\/\/doi.org\/10.36909\/jer.11073","journal-title":"J. Eng. Res."},{"key":"565_CR55","doi-asserted-by":"publisher","first-page":"623","DOI":"10.1007\/s13177-022-00314-4","volume":"20","author":"A Wael","year":"2022","unstructured":"Wael, A., Farag: Self-Driving vehicle localization using probabilistic maps and Unscented-Kalman filters. Int. J. ITS Res. 20, 623\u2013638 (2022). https:\/\/doi.org\/10.1007\/s13177-022-00314-4","journal-title":"Int. J. ITS Res."},{"issue":"4","key":"565_CR56","doi-asserted-by":"publisher","first-page":"567","DOI":"10.12785\/ijcds\/090405","volume":"9","author":"A Wael","year":"2020","unstructured":"Wael, A., Farag, A.C.: Vehicle-Detection-and-Tracking technique for autonomous driving. Int. J. Comput. Digit. Syst. 9(4), 567\u2013580 (2020). https:\/\/doi.org\/10.12785\/ijcds\/090405","journal-title":"Int. J. Comput. Digit. Syst."}],"container-title":["International Journal of Intelligent Transportation Systems Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s13177-025-00565-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s13177-025-00565-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s13177-025-00565-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,15]],"date-time":"2025-12-15T12:57:15Z","timestamp":1765803435000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s13177-025-00565-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,18]]},"references-count":56,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2025,12]]}},"alternative-id":["565"],"URL":"https:\/\/doi.org\/10.1007\/s13177-025-00565-x","relation":{},"ISSN":["1348-8503","1868-8659"],"issn-type":[{"value":"1348-8503","type":"print"},{"value":"1868-8659","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11,18]]},"assertion":[{"value":"29 November 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 September 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 October 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 November 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}]}}