{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T17:06:30Z","timestamp":1783530390923,"version":"3.55.0"},"reference-count":92,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"9","license":[{"start":{"date-parts":[[2024,9,1]],"date-time":"2024-09-01T00:00:00Z","timestamp":1725148800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,9,1]],"date-time":"2024-09-01T00:00:00Z","timestamp":1725148800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,9,1]],"date-time":"2024-09-01T00:00:00Z","timestamp":1725148800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"National Key R&D Program of China","award":["2022YFB2502905"],"award-info":[{"award-number":["2022YFB2502905"]}]},{"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"}]},{"name":"Lotus Youth Talent Program of Hunan Province","award":["2023RC3115"],"award-info":[{"award-number":["2023RC3115"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Veh."],"published-print":{"date-parts":[[2024,9]]},"DOI":"10.1109\/tiv.2023.3337318","type":"journal-article","created":{"date-parts":[[2023,11,28]],"date-time":"2023-11-28T14:31:35Z","timestamp":1701181895000},"page":"5407-5434","source":"Crossref","is-referenced-by-count":40,"title":["A Survey of Trajectory Planning Methods for Autonomous Driving\u2014Part I: Unstructured Scenarios"],"prefix":"10.1109","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5232-0629","authenticated-orcid":false,"given":"Yuqing","family":"Guo","sequence":"first","affiliation":[{"name":"Department of Automation, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-8335-069X","authenticated-orcid":false,"given":"Zelin","family":"Guo","sequence":"additional","affiliation":[{"name":"Department of Automation, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-4030-2120","authenticated-orcid":false,"given":"Yazhou","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5032-6322","authenticated-orcid":false,"given":"Danya","family":"Yao","sequence":"additional","affiliation":[{"name":"Department of Automation, BNRist, Tsinghua 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":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9428-1960","authenticated-orcid":false,"given":"Li","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Automation, BNRist, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2498841"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3024655"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-02094-0_7"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2913998"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2018.02.001"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2021.3065867"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3156429"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912453186"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.2140\/pjm.1990.145.367"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abm6597"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abm5954"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abh1221"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3164548"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2015.7225830"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36045-2"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995802"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3145389"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2019.2904385"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2020.2991951"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636754"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631299"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.2514\/6.2008-7166"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.advengsoft.2015.10.008"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2604240"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2018.5142"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1002\/acs.1217"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1989.637936"},{"issue":"48105","key":"ref29","first-page":"18","article-title":"Practical search techniques in path planning for autonomous driving","volume":"1001","author":"Dolgov","year":"2008","journal-title":"Ann Arbor"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1201\/b14581"},{"key":"ref31","article-title":"Rapidly-exploring random trees: A new tool for path planning","author":"LaValle","year":"1998"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087247"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087003"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.08.001"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1287\/trsc.2021.1122"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2017.2687047"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995836"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2022.3163816"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2018.7511186"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1137\/16M1091460"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2018.8619433"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2020.2987397"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2020-3138"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3109011"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995718"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21918"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2949540"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3163335"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3131693"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-016-0362-z"},{"key":"ref51","first-page":"602","article-title":"Collision detection between geometric models: A survey","volume-title":"Proc. IMA Conf. Math. Surf.","author":"Lin"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2546386"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2015.04.016"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2003.1238912"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9483020"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487283"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462878"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2923954"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2015.7402333"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1049\/itr2.12028"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1108\/EC-02-2021-0115"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152817"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3041075"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-62185-1_2"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205651"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980280"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.2181749"},{"key":"ref70","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-03991-1","volume-title":"The DARPA Urban Challenge: Autonomous Vehicles in City Traffic","volume":"56","author":"Buehler","year":"2009"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3136353"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3228963"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995816"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3173448"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2019.2960943"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2867807"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21908"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2003.1252787"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3193452"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2022.3214777"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3010755"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC45102.2020.9294321"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2020.2985546"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2046037"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2380273"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912456319"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2017.7510493"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/100.580977"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3296435"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/ICTIS54573.2021.9798637"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/TSSC.1968.300136"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3274536"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/tits.2023.3316175"}],"container-title":["IEEE Transactions on Intelligent Vehicles"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7274857\/11023975\/10329446.pdf?arnumber=10329446","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,21]],"date-time":"2025-07-21T18:10:21Z","timestamp":1753121421000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10329446\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,9]]},"references-count":92,"journal-issue":{"issue":"9"},"URL":"https:\/\/doi.org\/10.1109\/tiv.2023.3337318","relation":{},"ISSN":["2379-8904","2379-8858"],"issn-type":[{"value":"2379-8904","type":"electronic"},{"value":"2379-8858","type":"print"}],"subject":[],"published":{"date-parts":[[2024,9]]}}}