{"id":"https://openalex.org/W3108623890","doi":"https://doi.org/10.1109/access.2020.3039789","title":"Surrounding Vehicles Motion Prediction for Risk Assessment and Motion Planning of Autonomous Vehicle in Highway Scenarios","display_name":"Surrounding Vehicles Motion Prediction for Risk Assessment and Motion Planning of Autonomous Vehicle in Highway Scenarios","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3108623890","doi":"https://doi.org/10.1109/access.2020.3039789","mag":"3108623890"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3039789","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3039789","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09266032.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09266032.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100448160","display_name":"Lijun Zhang","orcid":"https://orcid.org/0000-0002-6944-1918"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Zhang","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024591470","display_name":"Wei Xiao","orcid":"https://orcid.org/0000-0003-3563-9894"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Xiao","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3563-9894","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632239","display_name":"Zhuang Zhang","orcid":"https://orcid.org/0000-0001-5758-0374"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuang Zhang","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5758-0374","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060792527","display_name":"Dejian Meng","orcid":"https://orcid.org/0000-0003-4153-8109"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dejian Meng","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6017,"has_fulltext":true,"cited_by_count":46,"citation_normalized_percentile":{"value":0.82151762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"209356","last_page":"209376"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994000196456909,"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":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6753703951835632},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.645153284072876},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6286007165908813},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6011998653411865},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5583069920539856},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5117926001548767},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4496956467628479},{"id":"https://openalex.org/keywords/risk-assessment","display_name":"Risk assessment","score":0.4297163486480713},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41370242834091187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23243311047554016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2162884771823883},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2068614661693573},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.13317400217056274},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08527520298957825}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6753703951835632},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.645153284072876},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6286007165908813},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6011998653411865},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5583069920539856},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5117926001548767},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4496956467628479},{"id":"https://openalex.org/C12174686","wikidata":"https://www.wikidata.org/wiki/Q1058438","display_name":"Risk assessment","level":2,"score":0.4297163486480713},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41370242834091187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23243311047554016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2162884771823883},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2068614661693573},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.13317400217056274},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08527520298957825},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3039789","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3039789","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09266032.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:9bd049f7b7ae4c99867f11d1efc71941","is_oa":true,"landing_page_url":"https://doaj.org/article/9bd049f7b7ae4c99867f11d1efc71941","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 209356-209376 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3039789","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3039789","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09266032.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G4778936873","display_name":null,"funder_award_id":"2016YFB0100901","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8607830349","display_name":null,"funder_award_id":"10.1109","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3108623890.pdf","grobid_xml":"https://content.openalex.org/works/W3108623890.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1504992226","https://openalex.org/W1520813427","https://openalex.org/W1541657018","https://openalex.org/W1897740768","https://openalex.org/W1971086298","https://openalex.org/W2012849708","https://openalex.org/W2039204626","https://openalex.org/W2055556996","https://openalex.org/W2061106795","https://openalex.org/W2062458019","https://openalex.org/W2073177254","https://openalex.org/W2084835622","https://openalex.org/W2097545165","https://openalex.org/W2101545882","https://openalex.org/W2103639171","https://openalex.org/W2120096422","https://openalex.org/W2123377313","https://openalex.org/W2129499485","https://openalex.org/W2139391802","https://openalex.org/W2148361676","https://openalex.org/W2150728959","https://openalex.org/W2163169902","https://openalex.org/W2170220350","https://openalex.org/W2343568200","https://openalex.org/W2343781317","https://openalex.org/W2346995011","https://openalex.org/W2505763307","https://openalex.org/W2576586002","https://openalex.org/W2726160656","https://openalex.org/W2739476658","https://openalex.org/W2740034659","https://openalex.org/W2772194428","https://openalex.org/W2774231091","https://openalex.org/W2884559985","https://openalex.org/W2885985403","https://openalex.org/W2899220464","https://openalex.org/W2899674859","https://openalex.org/W2905831339","https://openalex.org/W2947602864","https://openalex.org/W2955363359","https://openalex.org/W2963504694","https://openalex.org/W2966727988","https://openalex.org/W3098047565","https://openalex.org/W4249759363","https://openalex.org/W6631209646","https://openalex.org/W6678536906"],"related_works":["https://openalex.org/W2889566344","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W4381746183","https://openalex.org/W2120267624"],"abstract_inverted_index":{"Safety":[0],"is":[1,21,51,135,152,171],"the":[2,26,29,34,116,124,144,148,168],"cornerstone":[3],"of":[4,28,48,61,84,118,147],"autonomous":[5,62],"driving":[6,12],"vehicles.":[7,63,86],"For":[8],"autonomously":[9,77,129,149],"controlled":[10,78,130,150],"vehicles":[11,50,79,134],"safely":[13],"in":[14,33],"complex":[15],"and":[16,37,58,72,99,104,121,132,157,181],"dynamic":[17],"traffic":[18,31,175],"scenarios,":[19],"it":[20],"essential":[22,53],"to":[23,173,177],"precisely":[24],"predict":[25],"evolution":[27],"current":[30],"situation":[32],"near":[35],"future":[36],"make":[38],"an":[39,52],"accurate":[40],"situational":[41],"risk":[42,56,70,126,140],"assessment.":[43],"The":[44],"precise":[45],"motion":[46,59,73,82,101,106,145],"prediction":[47,83,102,107],"surrounding":[49,85,88,133],"prerequisite":[54],"for":[55,76],"assessment":[57,71,127],"planning":[60,74,146],"In":[64],"this":[65],"paper,":[66],"we":[67],"propose":[68],"a":[69,138,155,162],"method":[75,170],"based":[80,93],"on":[81,94],"Firstly,":[87],"vehicles'":[89],"trajectories":[90],"are":[91],"predicted":[92],"fusing":[95],"constant":[96],"turn":[97],"rate":[98],"acceleration-based":[100],"model":[103,108,163],"maneuver-based":[105],"with":[109,137,161],"interactive":[110],"multiple":[111],"models.":[112],"Then,":[113],"considering":[114],"both":[115],"probability":[117],"collision":[119,122,125,139],"event":[120],"severity,":[123],"between":[128],"vehicle":[131,151],"conducted":[136],"index.":[141],"After":[142],"that,":[143],"formulated":[153],"as":[154],"multi-objectives":[156],"multi-constraints":[158],"optimization":[159],"problem":[160],"predictive":[164],"control":[165],"framework.":[166],"Finally,":[167],"proposed":[169],"applied":[172],"several":[174],"scenarios":[176],"validate":[178],"its":[179],"feasibility":[180],"effectiveness.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
