{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T23:04:30Z","timestamp":1773615870878,"version":"3.50.1"},"reference-count":29,"publisher":"Allerton Press","issue":"5","license":[{"start":{"date-parts":[[2020,9,1]],"date-time":"2020-09-01T00:00:00Z","timestamp":1598918400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2020,9,1]],"date-time":"2020-09-01T00:00:00Z","timestamp":1598918400000},"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":["Aut. Control Comp. Sci."],"published-print":{"date-parts":[[2020,9]]},"DOI":"10.3103\/s0146411620050090","type":"journal-article","created":{"date-parts":[[2020,11,16]],"date-time":"2020-11-16T08:17:54Z","timestamp":1605514674000},"page":"432-445","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Optimal Trajectory Planning and Control for Automatic Lane Change of in Wheel Motor Driving Vehicles on Snow and Ice Roads"],"prefix":"10.3103","volume":"54","author":[{"family":"Zhongyang Wang","sequence":"first","affiliation":[]},{"given":"Di","family":"Tan","sequence":"additional","affiliation":[]},{"given":"Guangcheng","family":"Ge","sequence":"additional","affiliation":[]},{"given":"Shuaishuai","family":"Liu","sequence":"additional","affiliation":[]}],"member":"1627","published-online":{"date-parts":[[2020,11,16]]},"reference":[{"key":"7261_CR1","first-page":"1022","volume":"32","author":"L. Aijuan","year":"2013","unstructured":"Aijuan, L., Shunjun, L., Dianrong, L., et al., Research status of key technologies in intelligent vehicle motion trajectory planning, Mech. Sci. Technol. Aerosp. Eng., 2013, vol. 32, no. 7, pp. 1022\u20131026.","journal-title":"Mech. Sci. Technol. Aerosp. Eng."},{"key":"7261_CR2","doi-asserted-by":"crossref","first-page":"350","DOI":"10.1016\/j.cad.2009.12.007","volume":"42","author":"Takashi Maekawa","year":"2010","unstructured":"Takashi Maekawa, Tetsuya Noda, Shigefumi Tamura, et al., Curvature continuous path generation for autonomous vehicle using B-spline curves, Comput. Aided Des., 2010, vol. 42, no. 4, pp. 350\u2013359.","journal-title":"Comput. Aided Des."},{"key":"7261_CR3","unstructured":"Jinze, S., Bin, D., Enzhong, S., et al., Autonomous parallel parking trajectory generation method incorporating dynamic constraints, J. Central South Univ., 2009, no. S1, pp. 135\u2013141."},{"key":"7261_CR4","doi-asserted-by":"crossref","first-page":"360","DOI":"10.1016\/j.robot.2007.08.004","volume":"56","author":"F. G\u00f3mez-Bravo","year":"2008","unstructured":"G\u00f3mez-Bravo, F., Cuesta, F., Ollero, A., et al., Continuous curvature path generation based on \u03b2-spline curves for parking manoeuvres, Rob. Auton. Syst., 2008, vol. 56, no. 4, pp. 360\u2013372.","journal-title":"Rob. Auton. Syst."},{"key":"7261_CR5","volume-title":"Research on Autonomous Lane Change Method for Smart Cars","author":"W. Zheng","year":"2016","unstructured":"Zheng, W., Research on Autonomous Lane Change Method for Smart Cars, Jilin Univ., 2016."},{"key":"7261_CR6","first-page":"55","volume":"18","author":"G. Kejie","year":"2018","unstructured":"Kejie, G., Numerical study of the opening length of the central divider of expressways based on a 5-degree polynomial lane change model, Sci. Technol. Eng., 2018, vol. 18, no. 440, pp. 55\u201359.","journal-title":"Sci. Technol. Eng."},{"key":"7261_CR7","unstructured":"Chuan, M., Research on Intelligent Vehicle Trajectory Planning and Control Algorithm, Shandong Univ. Technol., 2013."},{"key":"7261_CR8","doi-asserted-by":"crossref","first-page":"554","DOI":"10.1109\/TCST.2007.894651","volume":"15","author":"J. Villagra","year":"2007","unstructured":"Villagra, J., D\u2019Andrea-Novel, B., Mounier, H., et al., Flatness-based vehicle steering control strategy with SDRE feedback gains tuned via a sensitivity approach, IEEE Trans. Control Syst. Technol., 2007, vol. 15, no. 3, pp. 554\u2013565.","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"7261_CR9","unstructured":"Lin, Z., Xinjie, Z., Konghui, G., et al., Rolling window optimization of trajectory planning for smart cars in unknown environment, J. Jilin Univ. (Eng. Technol. Ed.), 2018, vol. 48, no. 197, pp. 652\u2013660."},{"key":"7261_CR10","unstructured":"Hao, S., Weiwen, D., Sumin, Z., et al., Automobile micro-dynamic trajectory planning considering global optimality, J. Jilin Univ. (Eng. Technol. Ed.), 2014, vol. 44, no. 4."},{"key":"7261_CR11","doi-asserted-by":"crossref","unstructured":"Mcnaughton, M., Urmson, C., Dolan, J.M., et al., Motion planning for autonomous driving with a conformal spatiotemporal lattice, 2011 IEEE International Conference on Robotics and Automation, 2011.","DOI":"10.1109\/ICRA.2011.5980223"},{"key":"7261_CR12","volume-title":"Research on Risk Assessment and Trajectory Planning of Obstacle Avoidance for Smart Cars","author":"J. Qingkun","year":"2016","unstructured":"Qingkun, J., Research on Risk Assessment and Trajectory Planning of Obstacle Avoidance for Smart Cars, Changchun: Jilin Univ., 2016."},{"key":"7261_CR13","doi-asserted-by":"crossref","unstructured":"Li, G., Yamashita, A., Asama, H., et al., An efficient improved artificial potential field based regression search method for robot path planning, IEEE International Conference on Mechatronics and Automation, 2012.","DOI":"10.1109\/ICMA.2012.6283526"},{"key":"7261_CR14","unstructured":"Shufeng, W., Junxin, Z., and Zongfeng, L., Intelligent Vehicle Overtaking Path Planning Based on Improved Artificial Potential Field Method, 2018."},{"key":"7261_CR15","unstructured":"Fayong, L., Research on Lane Keeping System Based on Improved Artificial Potential Field Method, Hefei Univ. Technol., 2017."},{"key":"7261_CR16","doi-asserted-by":"crossref","first-page":"566","DOI":"10.1109\/TCST.2007.894653","volume":"15","author":"P. Falcone","year":"2007","unstructured":"Falcone, P., Borrelli, F., Asgari, J., et al., Predictive active steering control for autonomous vehicle systems, IEEE Trans. Control Syst. Technol., 2007, vol. 15, no. 3, pp. 566\u2013580.","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"7261_CR17","unstructured":"Falcone, P., Nonlinear model predictive control for autonomous vehicles, PhD Thesis, Benevento: Univ. Sannio, 2007."},{"key":"7261_CR18","doi-asserted-by":"crossref","first-page":"265","DOI":"10.1504\/IJVAS.2005.008237","volume":"3","author":"F. Borrelli","year":"2005","unstructured":"Borrelli, F., Falcone, P., Keviczky, T., et al., MPC-based approach to active steering for autonomous vehicle systems, Int. J. Veh. Auton. Syst., 2005, vol. 3, no. 2, pp. 265\u2013291.","journal-title":"Int. J. Veh. Auton. Syst."},{"key":"7261_CR19","unstructured":"Yunlong, Y., Tao, M., Yang, S., et al., A sliding mode control approach to longitudinal control of vehicles in a platoon, International Conference on Mechatronics and Automation, 2014."},{"key":"7261_CR20","doi-asserted-by":"crossref","unstructured":"Dian Bo, R., Guan Zhe, Z., and Cong, W., Adaptive method to trajectory tracking for lane changing, Appl. Mech. Mater., 2014, no. 590.","DOI":"10.4028\/www.scientific.net\/AMM.590.413"},{"key":"7261_CR21","volume-title":"Research on Overtaking Control Method for Autonomous Vehicles","author":"R. Jiwei","year":"2017","unstructured":"Jiwei, R., Research on Overtaking Control Method for Autonomous Vehicles, Dalian: Dalian Marit. Univ., 2017."},{"key":"7261_CR22","unstructured":"Pan, Z., Research on Motion Control Method of Unmanned Vehicle in Urban Environment, Univ. Sci. Technol. China, 2012."},{"key":"7261_CR23","volume-title":"Control Principle of Modern Permanent Magnet Synchronous Motor and MATLAB Simulation","author":"Y. Lei","year":"2016","unstructured":"Lei, Y., Bingxin, H., Keyin, W., et al., Control Principle of Modern Permanent Magnet Synchronous Motor and MATLAB Simulation, Beihang Univ. Press, 2016."},{"key":"7261_CR24","unstructured":"Nan, W., Research on Motion Simulation of Four-Wheel Steering System for Electric Vehicles, 2015."},{"key":"7261_CR25","volume-title":"Model Predictive Control of Unmanned Vehicle","author":"G. Jianwei","year":"2014","unstructured":"Jianwei, G., Model Predictive Control of Unmanned Vehicle, Beijing Inst. Technol. Press, 2014."},{"key":"7261_CR26","volume-title":"Automotive Theory","author":"Y. Zhisheng","year":"2000","unstructured":"Zhisheng, Y., Automotive Theory, China Mach. Press, 2000, 5th ed."},{"key":"7261_CR27","doi-asserted-by":"crossref","unstructured":"Bayar, G., Long distance autonomous trajectory tracking for an orchard vehicle, Ind. Rob., 2013, no. 1.","DOI":"10.1108\/01439911311294237"},{"key":"7261_CR28","first-page":"17","volume":"51","author":"M. Chuan","year":"2013","unstructured":"Chuan, M. and Kai, C., Intelligent vehicle trajectory planning based on polynomial theory, Agric. Equip. Veh. Eng., 2013, vol. 51, no. 3, pp. 17\u201321.","journal-title":"Agric. Equip. Veh. Eng."},{"key":"7261_CR29","unstructured":"Lie, G., Xiao, HuiH., Ping, ShuG., et al., Tracking control of deflection of intelligent vehicles based on backtracking, J. Jilin Univ. (Eng. Technol. Ed.), 2013, vol. 43, no. 166."}],"container-title":["Automatic Control and Computer Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.3103\/S0146411620050090.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.3103\/S0146411620050090","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.3103\/S0146411620050090.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T22:05:56Z","timestamp":1773612356000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.3103\/S0146411620050090"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9]]},"references-count":29,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2020,9]]}},"alternative-id":["7261"],"URL":"https:\/\/doi.org\/10.3103\/s0146411620050090","relation":{},"ISSN":["0146-4116","1558-108X"],"issn-type":[{"value":"0146-4116","type":"print"},{"value":"1558-108X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9]]},"assertion":[{"value":"23 December 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 March 2020","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 March 2020","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"16 November 2020","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The authors declare no conflict of interest.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"CONFLICTS OF INTEREST"}}]}}