{"id":"https://openalex.org/W7124300701","doi":"https://doi.org/10.65109/zcrx9110","title":"Connectivity Enhanced Safe Neural Network Planner for Lane Changing in Mixed Traffic","display_name":"Connectivity Enhanced Safe Neural Network Planner for Lane Changing in Mixed Traffic","publication_year":2023,"publication_date":"2023-05-30","ids":{"openalex":"https://openalex.org/W7124300701","doi":"https://doi.org/10.65109/zcrx9110"},"language":"en","primary_location":{"id":"doi:10.65109/zcrx9110","doi":"https://doi.org/10.65109/zcrx9110","is_oa":false,"landing_page_url":"https://doi.org/10.65109/zcrx9110","pdf_url":null,"source":{"id":"https://openalex.org/S4306417597","display_name":"Adaptive Agents and Multi-Agents Systems","issn_l":"1548-8403","issn":["1548-8403"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Joint Conference on Autonomous Agents and Multiagent Systems","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2302.02513","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057693484","display_name":"Xiangguo Liu","orcid":"https://orcid.org/0000-0002-1944-3923","observed_orcids":["https://orcid.org/0000-0002-1944-3923"]},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiangguo Liu","raw_affiliation_strings":["Northwestern University, Evanston, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017515613","display_name":"Ruochen Jiao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruochen Jiao","raw_affiliation_strings":["Northwestern University, Evanston, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123094220","display_name":"Bowen Zheng","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bowen Zheng","raw_affiliation_strings":["Pony.ai, Fremont, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pony.ai, Fremont, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045101343","display_name":"Dave Liang","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dave Liang","raw_affiliation_strings":["Pony.ai, Fremont, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pony.ai, Fremont, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020896290","display_name":"Qi Zhu","orcid":"https://orcid.org/0000-0002-7700-4099","observed_orcids":["https://orcid.org/0000-0002-7700-4099","https://orcid.org/0000-0002-1545-1854"]},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qi Zhu","raw_affiliation_strings":["Northwestern University, Evanston, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9369,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81861443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2568","last_page":"2570"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.48100000619888306,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.48100000619888306,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.45680001378059387,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.018200000748038292,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lane-change","display_name":"lane changing","score":0.9610000252723694},{"id":"https://openalex.org/keywords/mixed-traffic-flow","display_name":"mixed traffic","score":0.859000027179718},{"id":"https://openalex.org/keywords/connected-vehicles","display_name":"connected vehicles","score":0.8790000081062317},{"id":"https://openalex.org/keywords/trajectory-planning","display_name":"trajectory planning","score":0.6179999709129333},{"id":"https://openalex.org/keywords/vehicle-to-vehicle-communication","display_name":"vehicle-to-vehicle communication","score":0.7179999947547913},{"id":"https://openalex.org/keywords/autonomous-vehicles","display_name":"autonomous vehicles","score":0.6510000228881836},{"id":"https://openalex.org/keywords/human-driven-vehicles","display_name":"human-driven vehicles","score":0.5950000286102295},{"id":"https://openalex.org/keywords/system-robustness","display_name":"system robustness","score":0.5849999785423279}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8098000288009644},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6614000201225281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5753999948501587},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5422000288963318},{"id":"https://openalex.org/C2781251061","wikidata":"https://www.wikidata.org/wiki/Q5416089","display_name":"Evasion (ethics)","level":3,"score":0.38670000433921814},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.37599998712539673},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3617999851703644},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3564000129699707},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3061999976634979},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27059999108314514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26820001006126404},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2660999894142151},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.26510000228881836},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26089999079704285},{"id":"https://openalex.org/C201004817","wikidata":"https://www.wikidata.org/wiki/Q1707071","display_name":"Guidance system","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C2779888511","wikidata":"https://www.wikidata.org/wiki/Q244156","display_name":"Traffic congestion","level":2,"score":0.25600001215934753},{"id":"https://openalex.org/C16160715","wikidata":"https://www.wikidata.org/wiki/Q1640676","display_name":"Traffic engineering","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.65109/zcrx9110","doi":"https://doi.org/10.65109/zcrx9110","is_oa":false,"landing_page_url":"https://doi.org/10.65109/zcrx9110","pdf_url":null,"source":{"id":"https://openalex.org/S4306417597","display_name":"Adaptive Agents and Multi-Agents Systems","issn_l":"1548-8403","issn":["1548-8403"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Joint Conference on Autonomous Agents and Multiagent Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2302.02513","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2302.02513","pdf_url":"https://arxiv.org/pdf/2302.02513","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2302.02513","doi":"https://doi.org/10.48550/arxiv.2302.02513","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2302.02513","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2302.02513","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2302.02513","pdf_url":"https://arxiv.org/pdf/2302.02513","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.7207000255584717,"id":"https://metadata.un.org/sdg/9"},{"display_name":"Sustainable cities and communities","score":0.5142999887466431,"id":"https://metadata.un.org/sdg/11"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7124300701.pdf","grobid_xml":"https://content.openalex.org/works/W7124300701.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4318685743","https://openalex.org/W4379115815","https://openalex.org/W4320040537","https://openalex.org/W4291340624","https://openalex.org/W4224308441","https://openalex.org/W2060058398","https://openalex.org/W4411550498","https://openalex.org/W4402513592","https://openalex.org/W4411560233","https://openalex.org/W7167917225"],"abstract_inverted_index":{"Connectivity":[0],"technology":[1],"has":[2],"shown":[3],"great":[4],"potentials":[5],"in":[6,66,136,142],"improving":[7,137],"the":[8,19,44,48,64,121,130,153,157],"safety":[9,84,141],"and":[10,21,33,36,38,54,139],"efficiency":[11,138],"of":[12,24,123,132],"transportation":[13,45,56],"systems":[14],"by":[15],"providing":[16],"information":[17],"beyond":[18],"perception":[20],"prediction":[22],"capabilities":[23],"individual":[25],"vehicles.":[26],"However,":[27],"it":[28],"is":[29,78,161],"expected":[30],"that":[31],"human-driven":[32],"autonomous":[34],"vehicles,":[35,110],"connected":[37,53,109],"non-connected":[39],"vehicles":[40],"need":[41],"to":[42,51,81,120],"share":[43],"network":[46,87,100],"during":[47],"transition":[49],"period":[50],"fully":[52],"automated":[55],"systems.":[57],"Such":[58],"mixed":[59,144],"traffic":[60,145],"scenarios":[61,146],"significantly":[62],"increase":[63],"complexity":[65],"analyzing":[67],"system":[68,83,154],"behavior":[69],"for":[70],"highly":[71],"interactive":[72],"scenarios,":[73],"e.g.,":[74],"lane":[75,102],"changing.":[76],"It":[77],"even":[79],"harder":[80],"ensure":[82],"when":[85,156],"neural":[86,99],"based":[88,101],"planners":[89],"are":[90],"leveraged.":[91],"In":[92],"this":[93],"work,":[94],"we":[95],"propose":[96],"a":[97,124],"connectivity-enhanced":[98],"changing":[103],"planner.":[104],"By":[105],"cooperating":[106],"with":[107,147],"surrounding":[108],"our":[111,133],"proposed":[112],"planner":[113,134],"will":[114],"adapt":[115],"its":[116],"planned":[117],"trajectory":[118],"according":[119],"analysis":[122],"safe":[125],"evasion":[126],"trajectory.":[127],"We":[128,150],"demonstrate":[129],"strength":[131],"design":[135],"ensuring":[140],"various":[143],"extensive":[148],"simulations.":[149],"also":[151],"analyze":[152],"robustness":[155],"communication":[158],"or":[159],"coordination":[160],"not":[162],"perfect.":[163]},"counts_by_year":[{"year":2023,"cited_by_count":3}],"updated_date":"2026-10-17T09:40:24.721904","created_date":"2026-01-16T00:00:00"}
