{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:S5B4QUUBOX22UH3Z6A3WHZOE6S","short_pith_number":"pith:S5B4QUUB","canonical_record":{"source":{"id":"1804.01250","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-04-04T06:27:49Z","cross_cats_sorted":[],"title_canon_sha256":"1742c68689678ec9d10d6a4e492db08906dc4bb3ac0d1bdb679cde422da62ed0","abstract_canon_sha256":"b1e236c81dfd2a36808ef2c46139f13002174a5ddbe44c1b341cf899513d259a"},"schema_version":"1.0"},"canonical_sha256":"9743c8528175f5aa1f79f03763e5c4f4b489dc2ff933ae6ac78a0a36f349624e","source":{"kind":"arxiv","id":"1804.01250","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.01250","created_at":"2026-05-18T00:19:15Z"},{"alias_kind":"arxiv_version","alias_value":"1804.01250v1","created_at":"2026-05-18T00:19:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.01250","created_at":"2026-05-18T00:19:15Z"},{"alias_kind":"pith_short_12","alias_value":"S5B4QUUBOX22","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_16","alias_value":"S5B4QUUBOX22UH3Z","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_8","alias_value":"S5B4QUUB","created_at":"2026-05-18T12:32:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:S5B4QUUBOX22UH3Z6A3WHZOE6S","target":"record","payload":{"canonical_record":{"source":{"id":"1804.01250","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-04-04T06:27:49Z","cross_cats_sorted":[],"title_canon_sha256":"1742c68689678ec9d10d6a4e492db08906dc4bb3ac0d1bdb679cde422da62ed0","abstract_canon_sha256":"b1e236c81dfd2a36808ef2c46139f13002174a5ddbe44c1b341cf899513d259a"},"schema_version":"1.0"},"canonical_sha256":"9743c8528175f5aa1f79f03763e5c4f4b489dc2ff933ae6ac78a0a36f349624e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:19:15.606576Z","signature_b64":"VzB1bmSFi6QFjHtq5+RBnrM8W2Gz1qa/o5eNKIqAfJBHlMUg7XIP6UwHu4KFXGwZsAsNyz3m+Wj6PcmvZMizDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9743c8528175f5aa1f79f03763e5c4f4b489dc2ff933ae6ac78a0a36f349624e","last_reissued_at":"2026-05-18T00:19:15.605745Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:19:15.605745Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1804.01250","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":"2026-05-18T00:19:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2mt20k8qjmWghTxUWXLGCRr+0o7UHs18lkIFBsQKiz2vtFowFv+qsN4VyKeNpX7JEv5JBcb4UyUPTo+bvqB1Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T16:42:10.199354Z"},"content_sha256":"667aff6da6c641dafed60577ddd507d2163c39cd822d29972f3afb4a4f0fc603","schema_version":"1.0","event_id":"sha256:667aff6da6c641dafed60577ddd507d2163c39cd822d29972f3afb4a4f0fc603"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:S5B4QUUBOX22UH3Z6A3WHZOE6S","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Grouping Based Cooperative Driving Strategy for CAVs Merging Problems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Huile Xu, Li Li, Shuo Feng, Yi Zhang","submitted_at":"2018-04-04T06:27:49Z","abstract_excerpt":"In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the global optimal passing order, but it is time-consuming when the number of considered vehicles is large. In contrast, the ad hoc negotiation based strategy runs fast, but it always finds a local optimal solution. In this paper, we propose a grouping based cooperative driving strategy to make a good tradeoff between time consumption and coordination performance. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.01250","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":""},"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":"2026-05-18T00:19:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NdMcBLJoz5Nlojj1gaRwUlqk034WJm8gjrmuu7/q4SoOdmogFDqq4VEZTbcuJIc3EYdwV2WPm8KKPRCe4oq4AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T16:42:10.199910Z"},"content_sha256":"3bc891ae0ef210a5a0024925e2403695f871384fed8ec3f9ebd289ba5231a987","schema_version":"1.0","event_id":"sha256:3bc891ae0ef210a5a0024925e2403695f871384fed8ec3f9ebd289ba5231a987"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/S5B4QUUBOX22UH3Z6A3WHZOE6S/bundle.json","state_url":"https://pith.science/pith/S5B4QUUBOX22UH3Z6A3WHZOE6S/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/S5B4QUUBOX22UH3Z6A3WHZOE6S/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":"2026-05-29T16:42:10Z","links":{"resolver":"https://pith.science/pith/S5B4QUUBOX22UH3Z6A3WHZOE6S","bundle":"https://pith.science/pith/S5B4QUUBOX22UH3Z6A3WHZOE6S/bundle.json","state":"https://pith.science/pith/S5B4QUUBOX22UH3Z6A3WHZOE6S/state.json","well_known_bundle":"https://pith.science/.well-known/pith/S5B4QUUBOX22UH3Z6A3WHZOE6S/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:S5B4QUUBOX22UH3Z6A3WHZOE6S","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":"b1e236c81dfd2a36808ef2c46139f13002174a5ddbe44c1b341cf899513d259a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-04-04T06:27:49Z","title_canon_sha256":"1742c68689678ec9d10d6a4e492db08906dc4bb3ac0d1bdb679cde422da62ed0"},"schema_version":"1.0","source":{"id":"1804.01250","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.01250","created_at":"2026-05-18T00:19:15Z"},{"alias_kind":"arxiv_version","alias_value":"1804.01250v1","created_at":"2026-05-18T00:19:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.01250","created_at":"2026-05-18T00:19:15Z"},{"alias_kind":"pith_short_12","alias_value":"S5B4QUUBOX22","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_16","alias_value":"S5B4QUUBOX22UH3Z","created_at":"2026-05-18T12:32:50Z"},{"alias_kind":"pith_short_8","alias_value":"S5B4QUUB","created_at":"2026-05-18T12:32:50Z"}],"graph_snapshots":[{"event_id":"sha256:3bc891ae0ef210a5a0024925e2403695f871384fed8ec3f9ebd289ba5231a987","target":"graph","created_at":"2026-05-18T00:19:15Z","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"},"paper":{"abstract_excerpt":"In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the global optimal passing order, but it is time-consuming when the number of considered vehicles is large. In contrast, the ad hoc negotiation based strategy runs fast, but it always finds a local optimal solution. In this paper, we propose a grouping based cooperative driving strategy to make a good tradeoff between time consumption and coordination performance. ","authors_text":"Huile Xu, Li Li, Shuo Feng, Yi Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-04-04T06:27:49Z","title":"A Grouping Based Cooperative Driving Strategy for CAVs Merging Problems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.01250","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":"sha256:667aff6da6c641dafed60577ddd507d2163c39cd822d29972f3afb4a4f0fc603","target":"record","created_at":"2026-05-18T00:19:15Z","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":"b1e236c81dfd2a36808ef2c46139f13002174a5ddbe44c1b341cf899513d259a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-04-04T06:27:49Z","title_canon_sha256":"1742c68689678ec9d10d6a4e492db08906dc4bb3ac0d1bdb679cde422da62ed0"},"schema_version":"1.0","source":{"id":"1804.01250","kind":"arxiv","version":1}},"canonical_sha256":"9743c8528175f5aa1f79f03763e5c4f4b489dc2ff933ae6ac78a0a36f349624e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9743c8528175f5aa1f79f03763e5c4f4b489dc2ff933ae6ac78a0a36f349624e","first_computed_at":"2026-05-18T00:19:15.605745Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:19:15.605745Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VzB1bmSFi6QFjHtq5+RBnrM8W2Gz1qa/o5eNKIqAfJBHlMUg7XIP6UwHu4KFXGwZsAsNyz3m+Wj6PcmvZMizDA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:19:15.606576Z","signed_message":"canonical_sha256_bytes"},"source_id":"1804.01250","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:667aff6da6c641dafed60577ddd507d2163c39cd822d29972f3afb4a4f0fc603","sha256:3bc891ae0ef210a5a0024925e2403695f871384fed8ec3f9ebd289ba5231a987"],"state_sha256":"40e32d802c42f6b567d54a3ea69dac7e38ec10b351e24e4a83636a8d6ecd5d2d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Mbn4My1E3ldV/+oNoxz91FmMPC2Ul3KLqRmR/vLBkQ6JoEDyQUUdtY141fSwdGeONgUv32PDYKdAE/Ho0uItCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-29T16:42:10.203616Z","bundle_sha256":"6253aa1c8ebb02cda9f0dee444cc85f20e42c30d614bad48dc7755d3e2bda985"}}