{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,31]],"date-time":"2025-10-31T08:05:08Z","timestamp":1761897908798,"version":"3.37.3"},"reference-count":32,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T00:00:00Z","timestamp":1704067200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62088102","61790563"],"award-info":[{"award-number":["62088102","61790563"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Transport. Syst."],"published-print":{"date-parts":[[2024,1]]},"DOI":"10.1109\/tits.2023.3305198","type":"journal-article","created":{"date-parts":[[2023,8,24]],"date-time":"2023-08-24T17:29:27Z","timestamp":1692898167000},"page":"587-601","source":"Crossref","is-referenced-by-count":3,"title":["Clothoid-Based Reference Path Reconstruction for HD Map Generation"],"prefix":"10.1109","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5776-0858","authenticated-orcid":false,"given":"Songyi","family":"Zhang","sequence":"first","affiliation":[{"name":"Institute of Artificial Intelligence and Robotics, Xi&#x2019;an Jiaotong University, Xi&#x2019;an, China"}]},{"given":"Runsheng","family":"Wang","sequence":"additional","affiliation":[{"name":"Institute of Artificial Intelligence and Robotics, Xi&#x2019;an Jiaotong University, Xi&#x2019;an, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5325-6849","authenticated-orcid":false,"given":"Zhiqiang","family":"Jian","sequence":"additional","affiliation":[{"name":"Institute of Artificial Intelligence and Robotics, Xi&#x2019;an Jiaotong University, Xi&#x2019;an, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1474-1200","authenticated-orcid":false,"given":"Wei","family":"Zhan","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1608-8257","authenticated-orcid":false,"given":"Nanning","family":"Zheng","sequence":"additional","affiliation":[{"name":"Institute of Artificial Intelligence and Robotics, Xi&#x2019;an Jiaotong University, Xi&#x2019;an, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0206-6639","authenticated-orcid":false,"given":"Masayoshi","family":"Tomizuka","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463319000638"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.3390\/s18103270"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58536-5_32"},{"key":"ref4","first-page":"146","article-title":"HDNET: Exploiting HD maps for 3D object detection","volume-title":"Proc. Conf. Robot Learn.","author":"Yang"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509799"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-16-9885-9_45"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2016.07.003"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2014.6856526"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IV51971.2022.9827028"},{"key":"ref10","first-page":"231","article-title":"Opendrive 2010 and beyond\u2013status and future of the de facto standard for the description of road networks","volume-title":"Proc. Driving Simulation Conf. Eur.","author":"Dupuis"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3016620"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.4271\/2006-01-3638"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2291395"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ECC.2015.7330991"},{"key":"ref15","article-title":"Baidu Apollo EM motion planner","author":"Fan","year":"2018","journal-title":"arXiv:1807.08048"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2014.6856487"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569929"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.eng.2018.11.032"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1145\/1138450.1138453"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)50946-5"},{"volume-title":"A Policy on Geometric Design of Highways and Streets","year":"2011","author":"Officials","key":"ref21"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1090\/S0025-5718-1985-0777277-6"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2283928"},{"key":"ref24","article-title":"Fast and accurate clothoid fitting","author":"Bertolazzi","year":"2012","journal-title":"arXiv:1209.0910"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)0733-9453(1999)125:4(159)"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2946259"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1002\/mma.3114"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s00041-008-9045-x"},{"key":"ref29","first-page":"157","article-title":"A note on invariant three-point curvature approximations","volume":"1111","author":"Belyaev","year":"1999","journal-title":"RIMS"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"volume-title":"An Introduction to Numerical Analysis","year":"2008","author":"Atkinson","key":"ref31"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1145\/3424305"}],"container-title":["IEEE Transactions on Intelligent Transportation Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6979\/10403543\/10229966.pdf?arnumber=10229966","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,12,11]],"date-time":"2024-12-11T02:39:38Z","timestamp":1733884778000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10229966\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,1]]},"references-count":32,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/tits.2023.3305198","relation":{},"ISSN":["1524-9050","1558-0016"],"issn-type":[{"type":"print","value":"1524-9050"},{"type":"electronic","value":"1558-0016"}],"subject":[],"published":{"date-parts":[[2024,1]]}}}