{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:QH4CRCTAP2W3QGNLCO5PO4BCXV","short_pith_number":"pith:QH4CRCTA","schema_version":"1.0","canonical_sha256":"81f8288a607eadb819ab13baf77022bd6110e4aa63b3fa1d8c083b5e0cd6579b","source":{"kind":"arxiv","id":"2509.00582","version":1},"attestation_state":"computed","paper":{"title":"Safe and Efficient Lane-Changing for Autonomous Vehicles: An Improved Double Quintic Polynomial Approach with Time-to-Collision Evaluation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Fujiang Yuan, Hoi Leong Lee, Jiale Liu, Qi Wei Oung, Rui Bai, Rui Xu, Teng Rui, Zhen Tian","submitted_at":"2025-08-30T18:31:29Z","abstract_excerpt":"Autonomous driving technology has made significant advancements in recent years, yet challenges remain in ensuring safe and comfortable interactions with human-driven vehicles (HDVs), particularly during lane-changing maneuvers. This paper proposes an improved double quintic polynomial approach for safe and efficient lane-changing in mixed traffic environments. The proposed method integrates a time-to-collision (TTC) based evaluation mechanism directly into the trajectory optimization process, ensuring that the ego vehicle proactively maintains a safe gap from surrounding HDVs throughout the m"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2509.00582","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-30T18:31:29Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"44502000313c988bd01e4515b8ac68de11cfce2adc5cce5fcb2f014cdd39e451","abstract_canon_sha256":"7026a2cdda375acedd977d663e7923be92f8904123c83ab6b577a026712774fd"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:02:19.016572Z","signature_b64":"J6u27YuO4UBXPbZkloM/6xXbBrmsLREJ6fQ6ZcI+BI20vAOcBb5qVcr9WDddwuAJbNBY60evxpHOr5p1ov6JAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"81f8288a607eadb819ab13baf77022bd6110e4aa63b3fa1d8c083b5e0cd6579b","last_reissued_at":"2026-07-05T12:02:19.016053Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:02:19.016053Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Safe and Efficient Lane-Changing for Autonomous Vehicles: An Improved Double Quintic Polynomial Approach with Time-to-Collision Evaluation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Fujiang Yuan, Hoi Leong Lee, Jiale Liu, Qi Wei Oung, Rui Bai, Rui Xu, Teng Rui, Zhen Tian","submitted_at":"2025-08-30T18:31:29Z","abstract_excerpt":"Autonomous driving technology has made significant advancements in recent years, yet challenges remain in ensuring safe and comfortable interactions with human-driven vehicles (HDVs), particularly during lane-changing maneuvers. This paper proposes an improved double quintic polynomial approach for safe and efficient lane-changing in mixed traffic environments. The proposed method integrates a time-to-collision (TTC) based evaluation mechanism directly into the trajectory optimization process, ensuring that the ego vehicle proactively maintains a safe gap from surrounding HDVs throughout the m"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.00582","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/2509.00582/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2509.00582","created_at":"2026-07-05T12:02:19.016119+00:00"},{"alias_kind":"arxiv_version","alias_value":"2509.00582v1","created_at":"2026-07-05T12:02:19.016119+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.00582","created_at":"2026-07-05T12:02:19.016119+00:00"},{"alias_kind":"pith_short_12","alias_value":"QH4CRCTAP2W3","created_at":"2026-07-05T12:02:19.016119+00:00"},{"alias_kind":"pith_short_16","alias_value":"QH4CRCTAP2W3QGNL","created_at":"2026-07-05T12:02:19.016119+00:00"},{"alias_kind":"pith_short_8","alias_value":"QH4CRCTA","created_at":"2026-07-05T12:02:19.016119+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV","json":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV.json","graph_json":"https://pith.science/api/pith-number/QH4CRCTAP2W3QGNLCO5PO4BCXV/graph.json","events_json":"https://pith.science/api/pith-number/QH4CRCTAP2W3QGNLCO5PO4BCXV/events.json","paper":"https://pith.science/paper/QH4CRCTA"},"agent_actions":{"view_html":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV","download_json":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV.json","view_paper":"https://pith.science/paper/QH4CRCTA","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2509.00582&json=true","fetch_graph":"https://pith.science/api/pith-number/QH4CRCTAP2W3QGNLCO5PO4BCXV/graph.json","fetch_events":"https://pith.science/api/pith-number/QH4CRCTAP2W3QGNLCO5PO4BCXV/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV/action/timestamp_anchor","attest_storage":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV/action/storage_attestation","attest_author":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV/action/author_attestation","sign_citation":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV/action/citation_signature","submit_replication":"https://pith.science/pith/QH4CRCTAP2W3QGNLCO5PO4BCXV/action/replication_record"}},"created_at":"2026-07-05T12:02:19.016119+00:00","updated_at":"2026-07-05T12:02:19.016119+00:00"}