{"id":"https://openalex.org/W4285102269","doi":"https://doi.org/10.1109/icra46639.2022.9812269","title":"Online Prediction of Lane Change with a Hierarchical Learning-Based Approach","display_name":"Online Prediction of Lane Change with a Hierarchical Learning-Based Approach","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102269","doi":"https://doi.org/10.1109/icra46639.2022.9812269"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812269","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050822564","display_name":"Xishun Liao","orcid":"https://orcid.org/0000-0002-7219-8971"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xishun Liao","raw_affiliation_strings":["Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038550389","display_name":"Ziran Wang","orcid":"https://orcid.org/0000-0003-2702-7150"},"institutions":[{"id":"https://openalex.org/I4210093665","display_name":"Toyota Motor Corporation (United States)","ror":"https://ror.org/0076knn86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210093665","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziran Wang","raw_affiliation_strings":["Toyota Motor North America R&D,InfoTech Labs,Mountain View,CA,94043"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Motor North America R&D,InfoTech Labs,Mountain View,CA,94043","institution_ids":["https://openalex.org/I4210093665"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042733624","display_name":"Xuanpeng Zhao","orcid":"https://orcid.org/0000-0001-7073-6927"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuanpeng Zhao","raw_affiliation_strings":["Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066621781","display_name":"Zhouqiao Zhao","orcid":"https://orcid.org/0000-0002-5286-3807"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhouqiao Zhao","raw_affiliation_strings":["Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009775690","display_name":"Kyungtae Han","orcid":"https://orcid.org/0000-0001-8291-5025"},"institutions":[{"id":"https://openalex.org/I4210093665","display_name":"Toyota Motor Corporation (United States)","ror":"https://ror.org/0076knn86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210093665","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyungtae Han","raw_affiliation_strings":["Toyota Motor North America R&D,InfoTech Labs,Mountain View,CA,94043"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Motor North America R&D,InfoTech Labs,Mountain View,CA,94043","institution_ids":["https://openalex.org/I4210093665"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079453326","display_name":"Prashant Kumar Tiwari","orcid":"https://orcid.org/0000-0001-6849-5618"},"institutions":[{"id":"https://openalex.org/I4210093665","display_name":"Toyota Motor Corporation (United States)","ror":"https://ror.org/0076knn86","country_code":"US","type":"company","lineage":["https://openalex.org/I4210093665","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prashant Tiwari","raw_affiliation_strings":["Toyota Motor North America R&D,InfoTech Labs,Mountain View,CA,94043"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Motor North America R&D,InfoTech Labs,Mountain View,CA,94043","institution_ids":["https://openalex.org/I4210093665"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077257353","display_name":"Matthew Barth","orcid":"https://orcid.org/0000-0002-4735-5859"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew J. Barth","raw_affiliation_strings":["Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006183071","display_name":"Guoyuan Wu","orcid":"https://orcid.org/0000-0001-6707-6366"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guoyuan Wu","raw_affiliation_strings":["Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Environmental Research and Technology, University of California,Department of Electrical and Computer Engineering,Riverside,CA,92507","institution_ids":["https://openalex.org/I103635307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5050822564"],"corresponding_institution_ids":["https://openalex.org/I103635307"],"apc_list":null,"apc_paid":null,"fwci":4.2592,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.96636481,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"948","last_page":"954"},"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/T10524","display_name":"Traffic control and management","score":0.9994000196456909,"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/T10370","display_name":"Traffic and Road Safety","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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":0.7918293476104736},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6636074185371399},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.5651377439498901},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4995296001434326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49152907729148865},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.48851025104522705},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.46486741304397583},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4311065375804901},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.42500990629196167},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11947360634803772}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7918293476104736},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6636074185371399},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.5651377439498901},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4995296001434326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49152907729148865},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.48851025104522705},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.46486741304397583},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4311065375804901},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.42500990629196167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11947360634803772},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812269","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1801976851","https://openalex.org/W2051323180","https://openalex.org/W2064675550","https://openalex.org/W2081471684","https://openalex.org/W2098774185","https://openalex.org/W2102593338","https://openalex.org/W2151992080","https://openalex.org/W2223844752","https://openalex.org/W2411842732","https://openalex.org/W2587405850","https://openalex.org/W2789714787","https://openalex.org/W2889986919","https://openalex.org/W2891385160","https://openalex.org/W2916752133","https://openalex.org/W2922458387","https://openalex.org/W2963914175","https://openalex.org/W2990696475","https://openalex.org/W2996811802","https://openalex.org/W3034378555","https://openalex.org/W3091165146","https://openalex.org/W3120649473","https://openalex.org/W3176912151","https://openalex.org/W3187241433","https://openalex.org/W4200095410","https://openalex.org/W4205159341","https://openalex.org/W6674884181","https://openalex.org/W6747971328","https://openalex.org/W6799618426","https://openalex.org/W6811236935"],"related_works":["https://openalex.org/W2953205341","https://openalex.org/W235065745","https://openalex.org/W2029935773","https://openalex.org/W2787754950","https://openalex.org/W1572215850","https://openalex.org/W1985775355","https://openalex.org/W2352115286","https://openalex.org/W2084793300","https://openalex.org/W2476350415","https://openalex.org/W2145006118"],"abstract_inverted_index":{"In":[0,18,51],"the":[1,14,63,67,85,90,129,132,169,179,186,192,195,201,206],"foreseeable":[2],"future,":[3],"connected":[4],"and":[5,9,28,36,89,111,118,164,200,209],"auto-mated":[6],"vehicles":[7,11,33],"(CAVs)":[8],"human-driven":[10],"will":[12],"share":[13],"road":[15],"networks":[16],"together.":[17,94],"such":[19],"a":[20,46,56,78,98,105,112,135,146,216],"mixed":[21],"traffic":[22],"environment,":[23,158],"CAVs":[24],"need":[25],"to":[26,168,197],"understand":[27],"predict":[29,185],"maneuvers":[30],"of":[31,49,66,131,138,161],"surrounding":[32],"for":[34],"safer":[35],"more":[37],"efficient":[38],"interactions,":[39],"especially":[40],"when":[41],"human":[42,69],"drivers":[43],"bring":[44],"in":[45,172,178],"wide":[47],"range":[48],"uncertainties.":[50],"this":[52],"paper,":[53],"we":[54,76,96,183],"propose":[55,97],"learning-based":[57],"lane-change":[58,86,99,162,187],"prediction":[59,88,101,114,170,218],"algorithm":[60],"that":[61,81,152,182],"considers":[62],"driving":[64,157],"behaviors":[65],"target":[68],"driver.":[70],"To":[71,127],"provide":[72,154],"accurate":[73],"maneuver":[74],"prediction,":[75],"adopt":[77],"hierarchical":[79],"structure":[80],"seamlessly":[82],"seals":[83],"both":[84],"decision":[87,100,188],"vehicle":[91,193],"trajectory":[92,208],"pre-diction":[93],"Specifically,":[95],"method":[102],"based":[103,121],"on":[104,122,145],"Long-Short":[106],"Term":[107],"Memory":[108],"(LSTM)":[109],"network,":[110],"trajectories":[113],"considering":[115],"driver":[116],"preference":[117],"vehicular":[119],"interactions":[120],"Inverse":[123],"Reinforcement":[124],"Learning":[125],"(IRL).":[126],"validate":[128],"performance":[130],"proposed":[133],"methodology,":[134],"case":[136],"study":[137],"an":[139,155],"on-ramp":[140],"merging":[141],"scenario":[142],"is":[143,176,212],"conducted":[144],"uniquely":[147],"built":[148],"human-in-the-loop":[149],"simulation":[150,180],"platform":[151],"can":[153,184],"immersive":[156],"collect":[159],"data":[160],"behaviors,":[163],"test":[165],"drivers'":[166],"reactions":[167],"results":[171,181],"real":[173],"time.":[174],"It":[175],"shown":[177],"3":[189],"seconds":[190],"before":[191],"crosses":[194],"line":[196],"another":[198],"lane,":[199],"Mean":[202],"Euclidean":[203],"Distance":[204],"between":[205],"predicted":[207],"ground":[210],"truth":[211],"0.39":[213],"meters":[214],"within":[215],"4-second":[217],"window.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":2}],"updated_date":"2026-05-14T08:36:36.166977","created_date":"2025-10-10T00:00:00"}