{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:DDMABNUFW6OP6U42XM2FCQEQM5","short_pith_number":"pith:DDMABNUF","canonical_record":{"source":{"id":"2503.04159","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T07:23:17Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"27985fbaaf1823c811a8dbb5357d46c2b484da39aaa82187badff6d785ddd2c2","abstract_canon_sha256":"d3fc1b45aefdaf3b9c01a772a1769591bc8ad3240c79ec4df32e30479d57a8ac"},"schema_version":"1.0"},"canonical_sha256":"18d800b685b79cff539abb34514090674bf13c0a803f8f7d5968dbbf6ed24d01","source":{"kind":"arxiv","id":"2503.04159","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.04159","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"arxiv_version","alias_value":"2503.04159v1","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.04159","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"pith_short_12","alias_value":"DDMABNUFW6OP","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"pith_short_16","alias_value":"DDMABNUFW6OP6U42","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"pith_short_8","alias_value":"DDMABNUF","created_at":"2026-07-05T10:38:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:DDMABNUFW6OP6U42XM2FCQEQM5","target":"record","payload":{"canonical_record":{"source":{"id":"2503.04159","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T07:23:17Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"27985fbaaf1823c811a8dbb5357d46c2b484da39aaa82187badff6d785ddd2c2","abstract_canon_sha256":"d3fc1b45aefdaf3b9c01a772a1769591bc8ad3240c79ec4df32e30479d57a8ac"},"schema_version":"1.0"},"canonical_sha256":"18d800b685b79cff539abb34514090674bf13c0a803f8f7d5968dbbf6ed24d01","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:38:43.667783Z","signature_b64":"ccQcVPaeZjasX9uuNxoNSMVgdsx2D5jYyQ05ggVTRzUk7gTfhblSR7fZIKKShqaYgYtAmaieVDEvoEjVTGhgDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"18d800b685b79cff539abb34514090674bf13c0a803f8f7d5968dbbf6ed24d01","last_reissued_at":"2026-07-05T10:38:43.667356Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:38:43.667356Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2503.04159","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:38:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1CoUlTWZehgVqNoKhLy1fcJHQJd5+u++2QQ04W6hL+tT6U+QP2zRb1ay8ZRVcfGC4faXi1WCZNaaMazf6fbPBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T20:15:54.678994Z"},"content_sha256":"626e8688576f4a919d432d6eec4078ce8f435cc82229964c393efd307f2d1801","schema_version":"1.0","event_id":"sha256:626e8688576f4a919d432d6eec4078ce8f435cc82229964c393efd307f2d1801"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:DDMABNUFW6OP6U42XM2FCQEQM5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Simulation-based Analysis Of Highway Trajectory Planning Using High-Order Polynomial For Highly Automated Driving Function","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Marzana Khatun, Michael Gla{\\ss}, Milin Patel, Rolf Jung","submitted_at":"2025-03-06T07:23:17Z","abstract_excerpt":"One of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world application of such a method involves consideration of surrounding environment conditions and movements such as Lane Change, collision avoidance, and lane merge. The focus of the paper is to develop and implement safe collision free highway Lane Change trajectory using high order polynomial for Highly Automated Driving Function (HADF). Planning is often con"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.04159","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2503.04159/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:38:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kiZFA+k45NRIw4dw+T91cDUjZnmg32sJv5zatlg9nWYjjsai8VPbnO8KaCc+U4pL2nYekcZ0A0tlejo5F4YRAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T20:15:54.679559Z"},"content_sha256":"50dbdf7060d6ca14518a72c2be4441a0763dbec6e45dabd51f581d80eee326fe","schema_version":"1.0","event_id":"sha256:50dbdf7060d6ca14518a72c2be4441a0763dbec6e45dabd51f581d80eee326fe"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DDMABNUFW6OP6U42XM2FCQEQM5/bundle.json","state_url":"https://pith.science/pith/DDMABNUFW6OP6U42XM2FCQEQM5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DDMABNUFW6OP6U42XM2FCQEQM5/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-03T20:15:54Z","links":{"resolver":"https://pith.science/pith/DDMABNUFW6OP6U42XM2FCQEQM5","bundle":"https://pith.science/pith/DDMABNUFW6OP6U42XM2FCQEQM5/bundle.json","state":"https://pith.science/pith/DDMABNUFW6OP6U42XM2FCQEQM5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DDMABNUFW6OP6U42XM2FCQEQM5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:DDMABNUFW6OP6U42XM2FCQEQM5","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"d3fc1b45aefdaf3b9c01a772a1769591bc8ad3240c79ec4df32e30479d57a8ac","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T07:23:17Z","title_canon_sha256":"27985fbaaf1823c811a8dbb5357d46c2b484da39aaa82187badff6d785ddd2c2"},"schema_version":"1.0","source":{"id":"2503.04159","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.04159","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"arxiv_version","alias_value":"2503.04159v1","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.04159","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"pith_short_12","alias_value":"DDMABNUFW6OP","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"pith_short_16","alias_value":"DDMABNUFW6OP6U42","created_at":"2026-07-05T10:38:43Z"},{"alias_kind":"pith_short_8","alias_value":"DDMABNUF","created_at":"2026-07-05T10:38:43Z"}],"graph_snapshots":[{"event_id":"sha256:50dbdf7060d6ca14518a72c2be4441a0763dbec6e45dabd51f581d80eee326fe","target":"graph","created_at":"2026-07-05T10:38:43Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2503.04159/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"One of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world application of such a method involves consideration of surrounding environment conditions and movements such as Lane Change, collision avoidance, and lane merge. The focus of the paper is to develop and implement safe collision free highway Lane Change trajectory using high order polynomial for Highly Automated Driving Function (HADF). Planning is often con","authors_text":"Marzana Khatun, Michael Gla{\\ss}, Milin Patel, Rolf Jung","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T07:23:17Z","title":"Simulation-based Analysis Of Highway Trajectory Planning Using High-Order Polynomial For Highly Automated Driving Function"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.04159","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:626e8688576f4a919d432d6eec4078ce8f435cc82229964c393efd307f2d1801","target":"record","created_at":"2026-07-05T10:38:43Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"d3fc1b45aefdaf3b9c01a772a1769591bc8ad3240c79ec4df32e30479d57a8ac","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T07:23:17Z","title_canon_sha256":"27985fbaaf1823c811a8dbb5357d46c2b484da39aaa82187badff6d785ddd2c2"},"schema_version":"1.0","source":{"id":"2503.04159","kind":"arxiv","version":1}},"canonical_sha256":"18d800b685b79cff539abb34514090674bf13c0a803f8f7d5968dbbf6ed24d01","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"18d800b685b79cff539abb34514090674bf13c0a803f8f7d5968dbbf6ed24d01","first_computed_at":"2026-07-05T10:38:43.667356Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:38:43.667356Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ccQcVPaeZjasX9uuNxoNSMVgdsx2D5jYyQ05ggVTRzUk7gTfhblSR7fZIKKShqaYgYtAmaieVDEvoEjVTGhgDw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:38:43.667783Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.04159","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:626e8688576f4a919d432d6eec4078ce8f435cc82229964c393efd307f2d1801","sha256:50dbdf7060d6ca14518a72c2be4441a0763dbec6e45dabd51f581d80eee326fe"],"state_sha256":"e7077b26cd4db0308320bd6efac10ea164e1a20f2bb49bfb19274fd1df0424c9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mZn9nesuCilAQpzEZdGriE2vHKWQMq8z3pOKDqdZCHqeb07ueP9/5GIsMZw4scDKGWxQVrBTtPpA34j1ungTDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T20:15:54.686862Z","bundle_sha256":"0fd81ff76628a11c36ccb8ecd9d6344d507b44cecce9f949ee0a5c1862a9f630"}}