{rfName}
Me

Indexed in

License and use

Icono OpenAccess

Citations

31

Altmetrics

Article has an altmetric score of 7

Grant support

This work has been partially funded by the Spanish Ministry of Science, Innovation and Universities with National Projects PRYSTINE and NEWCONTROL (PCI2018-092928, PCI2019-103791, respectively), the Community of Madrid through SEGVAUTO 4.0-CM Programme (S2018-EMT-4362), and by the European Commission and ECSEL Joint Undertaking through the Projects PRYSTINE (783190) and NEWCONTROL (826653).

Analysis of institutional authors

Medina-Lee, JAuthorGodoy, JAuthorVillagra, JCorresponding Author

Share

June 28, 2021
Publications
>
Article
Sí

Merit-Based Motion Planning for Autonomous Vehicles in Urban Scenarios

Publicated to:Sensors. 21 (11): 3755- - 2021-06-01 21(11), DOI: 10.3390/s21113755

Authors: Medina-Lee, Juan; Artunedo, Antonio; Godoy, Jorge; Villagra, Jorge

Affiliations

UPM, CSIC, Ctr Automat & Robot, Autopia Program, Ctra M300 Campo Real,Km 0-200, Madrid 28500, Spain - Author

Abstract

Safe and adaptable motion planning for autonomous vehicles remains an open problem in urban environments, where the variability of situations and behaviors may become intractable using rule-based approaches. This work proposes a use-case-independent motion planning algorithm that generates a set of possible trajectories and selects the best of them according to a merit function that combines longitudinal comfort, lateral comfort, safety and utility criteria. The system was tested in urban scenarios on simulated and real environments, and the results show that different driving styles can be achieved according to the priorities set in the merit function, always meeting safety and comfort parameters imposed by design.

Keywords

AlgorithmArticleAutonomous drivingAutonomous vehiclesComfortComfort parameterDriving stylesHumanIndependent motionsMerit functionMotionMotion planningReal environmentsRule-based approachSimulationSpeed profileTrajectory generationUrban environmentsUrban scenariosVelocity

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Sensors due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2021, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category Analytical Chemistry.

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 4.24, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions Jul 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-07-11, the following number of citations:

  • WoS: 2
  • Scopus: 14
  • Google Scholar: 14

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-07-11:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 16.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 20 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 6.15.
  • The number of mentions on the social network X (formerly Twitter): 8 (Altmetric).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.

Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (MEDINA LEE, JUAN FELIPE) and Last Author (Villagrá Serrano, Jorge).

the author responsible for correspondence tasks has been Villagrá Serrano, Jorge.