{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,27]],"date-time":"2026-07-27T21:30:04Z","timestamp":1785187804982,"version":"3.55.0"},"reference-count":40,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"11","license":[{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2022YFB4703700"],"award-info":[{"award-number":["2022YFB4703700"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62103139"],"award-info":[{"award-number":["62103139"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100019081","name":"Lotus Youth Talent Program of Hunan Province","doi-asserted-by":"publisher","award":["2023RC3115"],"award-info":[{"award-number":["2023RC3115"]}],"id":[{"id":"10.13039\/501100019081","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Transport. Syst."],"published-print":{"date-parts":[[2025,11]]},"DOI":"10.1109\/tits.2025.3597472","type":"journal-article","created":{"date-parts":[[2025,9,23]],"date-time":"2025-09-23T17:26:23Z","timestamp":1758648383000},"page":"18963-18977","source":"Crossref","is-referenced-by-count":4,"title":["Real-Time Cooperative Trajectory Planning for Multiple CAVs at Unstructured Intersections: A Computational Optimal Control Approach"],"prefix":"10.1109","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-2581-6776","authenticated-orcid":false,"given":"Fan","family":"Bu","sequence":"first","affiliation":[{"name":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, and School of Transportation Science and Engineering, Beihang University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8966-8992","authenticated-orcid":false,"given":"Bai","family":"Li","sequence":"additional","affiliation":[{"name":"School of Communication and Electronic Engineering, East China Normal University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8076-8989","authenticated-orcid":false,"given":"Peng","family":"Chen","sequence":"additional","affiliation":[{"name":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, and School of Transportation Science and Engineering, Beihang University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8374-7422","authenticated-orcid":false,"given":"Guizhen","family":"Yu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, and School of Transportation Science and Engineering, Beihang University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4005-6338","authenticated-orcid":false,"given":"Yunpeng","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, and School of Transportation Science and Engineering, Beihang University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2025.3541393"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3270749"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2024.3401082"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2498841"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.geits.2023.100124"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2017.2780269"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3056346"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3168130"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.geits.2024.100156"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2006.878730"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.geits.2025.100261"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2016.7508798"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2017.2743167"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3157049"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2016.0043"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1613\/jair.2502"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2013.6728285"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3174659"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3145389"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2940641"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2019.01.004"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3118592"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2018.2804164"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2022.3225250"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2019.05.003"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1609\/socs.v6i1.18343"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2017.09.025"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139250"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1609\/socs.v3i1.18222"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103997"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140034"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3044834"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2445780"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545306"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.51.4282"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3296435"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3109011"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref39","volume-title":"A Collection of Fortran Codes for Large Scale Scientific Computation","year":"2024"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2023.120849"}],"container-title":["IEEE Transactions on Intelligent Transportation Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/6979\/11241045\/11176853.pdf?arnumber=11176853","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,12]],"date-time":"2025-11-12T18:44:32Z","timestamp":1762973072000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11176853\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11]]},"references-count":40,"journal-issue":{"issue":"11"},"URL":"https:\/\/doi.org\/10.1109\/tits.2025.3597472","relation":{},"ISSN":["1524-9050","1558-0016"],"issn-type":[{"value":"1524-9050","type":"print"},{"value":"1558-0016","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11]]}}}