{"id":"https://openalex.org/W3112703973","doi":"https://doi.org/10.1109/access.2021.3072739","title":"6-Layer Model for a Structured Description and Categorization of Urban Traffic and Environment","display_name":"6-Layer Model for a Structured Description and Categorization of Urban Traffic and Environment","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3112703973","doi":"https://doi.org/10.1109/access.2021.3072739","mag":"3112703973"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3072739","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3072739","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09400833.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":"preprint","indexed_in":["arxiv","crossref","datacite","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09400833.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072348590","display_name":"Maike Scholtes","orcid":"https://orcid.org/0000-0003-2733-5292"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Maike Scholtes","raw_affiliation_strings":["Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany","RWTH Aachen University"],"raw_orcid":"https://orcid.org/0000-0003-2733-5292","affiliations":[{"raw_affiliation_string":"Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"RWTH Aachen University","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088242243","display_name":"Lukas Westhofen","orcid":"https://orcid.org/0000-0003-1065-4182"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lukas Westhofen","raw_affiliation_strings":["OFFIS e.V., Oldenburg, Germany","OFFIS e. V, Oldenburg, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1065-4182","affiliations":[{"raw_affiliation_string":"OFFIS e.V., Oldenburg, Germany","institution_ids":["https://openalex.org/I202367325"]},{"raw_affiliation_string":"OFFIS e. V, Oldenburg, Germany","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013476717","display_name":"Lara Ruth Turner","orcid":null},"institutions":[{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lara Ruth Turner","raw_affiliation_strings":["ZF Friedrichshafen AG, Friedrichshafen, Germany","ZF Friedrichshafen AG, Friedrichshafen, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ZF Friedrichshafen AG, Friedrichshafen, Germany","institution_ids":["https://openalex.org/I254181534"]},{"raw_affiliation_string":"ZF Friedrichshafen AG, Friedrichshafen, Germany#TAB#","institution_ids":["https://openalex.org/I254181534"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030569307","display_name":"Katrin Lotto","orcid":"https://orcid.org/0000-0002-3726-0362"},"institutions":[{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katrin Lotto","raw_affiliation_strings":["ZF Friedrichshafen AG, Friedrichshafen, Germany","ZF Friedrichshafen AG, Friedrichshafen, Germany#TAB#"],"raw_orcid":"https://orcid.org/0000-0002-3726-0362","affiliations":[{"raw_affiliation_string":"ZF Friedrichshafen AG, Friedrichshafen, Germany","institution_ids":["https://openalex.org/I254181534"]},{"raw_affiliation_string":"ZF Friedrichshafen AG, Friedrichshafen, Germany#TAB#","institution_ids":["https://openalex.org/I254181534"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041452203","display_name":"Michael Schuldes","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Schuldes","raw_affiliation_strings":["Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101748335","display_name":"Hendrik Weber","orcid":"https://orcid.org/0000-0003-3897-791X"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hendrik Weber","raw_affiliation_strings":["Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041037728","display_name":"Nicolas Wagener","orcid":"https://orcid.org/0000-0002-9086-5061"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nicolas Wagener","raw_affiliation_strings":["Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087599978","display_name":"Christian Neurohr","orcid":"https://orcid.org/0000-0001-8847-5147"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Neurohr","raw_affiliation_strings":["OFFIS e.V., Oldenburg, Germany","OFFIS e. V, Oldenburg, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8847-5147","affiliations":[{"raw_affiliation_string":"OFFIS e.V., Oldenburg, Germany","institution_ids":["https://openalex.org/I202367325"]},{"raw_affiliation_string":"OFFIS e. V, Oldenburg, Germany","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028354503","display_name":"Martin Bollmann","orcid":null},"institutions":[{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Herbert Bollmann","raw_affiliation_strings":["ZF Friedrichshafen AG, Friedrichshafen, Germany","ZF Friedrichshafen AG, Friedrichshafen, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ZF Friedrichshafen AG, Friedrichshafen, Germany","institution_ids":["https://openalex.org/I254181534"]},{"raw_affiliation_string":"ZF Friedrichshafen AG, Friedrichshafen, Germany#TAB#","institution_ids":["https://openalex.org/I254181534"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055337193","display_name":"Franziska K\u00f6rtke","orcid":null},"institutions":[{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franziska Kortke","raw_affiliation_strings":["ZF Friedrichshafen AG, Friedrichshafen, Germany","ZF Friedrichshafen AG, Friedrichshafen, Germany#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ZF Friedrichshafen AG, Friedrichshafen, Germany","institution_ids":["https://openalex.org/I254181534"]},{"raw_affiliation_string":"ZF Friedrichshafen AG, Friedrichshafen, Germany#TAB#","institution_ids":["https://openalex.org/I254181534"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021599490","display_name":"Johannes Hiller","orcid":"https://orcid.org/0000-0003-1835-6067"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Hiller","raw_affiliation_strings":["Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1835-6067","affiliations":[{"raw_affiliation_string":"Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075235873","display_name":"Michael Hoss","orcid":"https://orcid.org/0000-0001-9924-7596"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Hoss","raw_affiliation_strings":["Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9924-7596","affiliations":[{"raw_affiliation_string":"Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066077246","display_name":"Julian Bock","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107946","display_name":"Forschungsgesellschaft Kraftfahrwesen Aachen (Germany)","ror":"https://ror.org/01n42m123","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210107946"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Bock","raw_affiliation_strings":["Fka GmbH, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fka GmbH, Aachen, Germany","institution_ids":["https://openalex.org/I4210107946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113050304","display_name":"Lutz Eckstein","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lutz Eckstein","raw_affiliation_strings":["Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":14,"corresponding_author_ids":["https://openalex.org/A5072348590"],"corresponding_institution_ids":["https://openalex.org/I887968799"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6507,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.67401989,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"59131","last_page":"59147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9975000023841858,"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":0.9975000023841858,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9805999994277954,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9642000198364258,"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/categorization","display_name":"Categorization","score":0.7980655431747437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7081457376480103},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.676094651222229},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.531886875629425},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4753558337688446},{"id":"https://openalex.org/keywords/trace","display_name":"TRACE (psycholinguistics)","score":0.43535757064819336},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4310309886932373},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.42963290214538574},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.40537726879119873},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3696243464946747},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3638259172439575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2898090183734894},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19676512479782104}],"concepts":[{"id":"https://openalex.org/C94124525","wikidata":"https://www.wikidata.org/wiki/Q912550","display_name":"Categorization","level":2,"score":0.7980655431747437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7081457376480103},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.676094651222229},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.531886875629425},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4753558337688446},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.43535757064819336},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4310309886932373},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.42963290214538574},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.40537726879119873},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3696243464946747},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3638259172439575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2898090183734894},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19676512479782104},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/access.2021.3072739","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3072739","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09400833.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:publications.rwth-aachen.de:818347","is_oa":true,"landing_page_url":"https://publications.rwth-aachen.de/record/818347","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE access 9, 59131-59147 (2021). doi:10.1109/ACCESS.2021.3072739","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:arXiv.org:2012.06319","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.06319","pdf_url":"https://arxiv.org/pdf/2012.06319","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3112703973","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2012.06319","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:doaj.org/article:e80a615f2ff44355bff3228d1833abd4","is_oa":true,"landing_page_url":"https://doaj.org/article/e80a615f2ff44355bff3228d1833abd4","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 9, Pp 59131-59147 (2021)","raw_type":"article"},{"id":"doi:10.48550/arxiv.2012.06319","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2012.06319","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"doi:10.18154/rwth-2021-04389","is_oa":true,"landing_page_url":"https://doi.org/10.18154/rwth-2021-04389","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3072739","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3072739","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09400833.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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7900000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322835","display_name":"Ministry of Economic Affairs","ror":"https://ror.org/042ge0913"},{"id":"https://openalex.org/F4320323803","display_name":"Bundesministerium f\u00fcr Wirtschaft und Energie","ror":"https://ror.org/02vgg2808"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3112703973.pdf","grobid_xml":"https://content.openalex.org/works/W3112703973.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W576060317","https://openalex.org/W1802346448","https://openalex.org/W1895727713","https://openalex.org/W2051701685","https://openalex.org/W2103103282","https://openalex.org/W2122073339","https://openalex.org/W2122768161","https://openalex.org/W2784336697","https://openalex.org/W2891469576","https://openalex.org/W2911895357","https://openalex.org/W2932347139","https://openalex.org/W2963184890","https://openalex.org/W2963657083","https://openalex.org/W2965254396","https://openalex.org/W2970180737","https://openalex.org/W3024414633","https://openalex.org/W3050284889","https://openalex.org/W3083765321","https://openalex.org/W3118240751","https://openalex.org/W3124527002","https://openalex.org/W3129554116","https://openalex.org/W6719437059","https://openalex.org/W6760791211","https://openalex.org/W6769782826","https://openalex.org/W6783810198"],"related_works":["https://openalex.org/W3155776565","https://openalex.org/W1996097978","https://openalex.org/W2887958565","https://openalex.org/W2896543357","https://openalex.org/W2324454149","https://openalex.org/W141777592","https://openalex.org/W2760115660","https://openalex.org/W1421493404","https://openalex.org/W2208106703","https://openalex.org/W2139442269","https://openalex.org/W2755339438","https://openalex.org/W3110057407","https://openalex.org/W2803958293","https://openalex.org/W191738623","https://openalex.org/W2562241503","https://openalex.org/W2803309154","https://openalex.org/W2326157342","https://openalex.org/W1571164247","https://openalex.org/W1601898411","https://openalex.org/W2272123200"],"abstract_inverted_index":{"Verification":[0],"and":[1,17,35,73,79,111,154,169,186,210],"validation":[2],"of":[3,23,46,65,113,125,133,136,150,162,195,223],"automated":[4],"driving":[5],"functions":[6,96,124],"impose":[7],"large":[8],"challenges.":[9],"Currently,":[10],"scenario-based":[11],"approaches":[12],"are":[13,140,184,189,213],"investigated":[14],"in":[15,37,83,142,215],"research":[16,54],"industry,":[18],"aiming":[19],"at":[20,174],"a":[21,38,43,98,108,131,148],"reduction":[22],"testing":[24],"efforts":[25],"by":[26,179],"specifying":[27],"safety":[28],"relevant":[29],"scenarios.":[30,67],"To":[31],"define":[32],"those":[33],"scenarios":[34],"operate":[36],"complex":[39],"real-world":[40],"design":[41,212],"domain,":[42],"structured":[44,99,109],"description":[45,64,110,149,222],"the":[47,52,56,63,71,85,88,92,114,137,151,163,193,196,208,220,224,235],"environment":[48,93,201],"is":[49,130],"needed.":[50],"Within":[51],"PEGASUS":[53],"project,":[55],"6-Layer":[57],"Model":[58],"(6LM)":[59],"was":[60],"introduced":[61],"for":[62,101,198],"highway":[66],"This":[68],"paper":[69],"refines":[70],"6LM":[72,86,146,225],"extends":[74],"it":[75],"to":[76,90,191,205,237],"urban":[77],"traffic":[78,155],"environment.":[80],"As":[81],"defined":[82],"PEGASUS,":[84],"provides":[87],"possibility":[89],"categorize":[91],"and,":[94],"therefore,":[95],"as":[97],"basis":[100],"subsequent":[102],"scenario":[103],"description.":[104,202],"The":[105,145,172],"model":[106,197,209],"enables":[107],"categorization":[112],"general":[115],"environment,":[116],"without":[117],"incorporating":[118],"any":[119,123],"knowledge":[120],"or":[121],"anticipating":[122],"actors.":[126],"Beyond":[127],"that,":[128],"there":[129],"variety":[132],"other":[134],"applications":[135],"6LM,":[138],"which":[139],"elaborated":[141],"this":[143],"paper.":[144],"includes":[147,227],"road":[152],"network":[153],"guidance":[156],"objects,":[157,166],"roadside":[158],"structures,":[159],"temporary":[160],"modifications":[161],"former,":[164],"dynamic":[165],"environmental":[167],"conditions":[168],"digital":[170],"information.":[171],"work":[173,232],"hand":[175],"specifies":[176],"each":[177],"layer":[178],"categorizing":[180],"its":[181,211],"items.":[182],"Guidelines":[183],"formulated":[185],"explanatory":[187],"examples":[188],"given":[190],"standardize":[192],"application":[194],"an":[199],"objective":[200],"In":[203],"contrast":[204],"previous":[206],"publications,":[207],"described":[214],"far":[216],"more":[217],"detail.":[218],"Finally,":[219],"holistic":[221],"presented":[226],"remarks":[228],"on":[229],"possible":[230],"future":[231],"when":[233],"expanding":[234],"concept":[236],"machine":[238],"perception":[239],"aspects.":[240]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}