{"id":"https://openalex.org/W3003585843","doi":"https://doi.org/10.1109/iros40897.2019.8967708","title":"Deep Predictive Autonomous Driving Using Multi-Agent Joint Trajectory Prediction and Traffic Rules","display_name":"Deep Predictive Autonomous Driving Using Multi-Agent Joint Trajectory Prediction and Traffic Rules","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003585843","doi":"https://doi.org/10.1109/iros40897.2019.8967708","mag":"3003585843"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5034975936","display_name":"Kyunghoon Cho","orcid":"https://orcid.org/0000-0002-4679-6660"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Kyunghoon Cho","raw_affiliation_strings":["Seoul National University,Department of Electrical and Computer Engineering and ASRI,Seoul,Korea,08826","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Electrical and Computer Engineering and ASRI,Seoul,Korea,08826","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049877400","display_name":"Timothy Ha","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Timothy Ha","raw_affiliation_strings":["Seoul National University,Department of Electrical and Computer Engineering and ASRI,Seoul,Korea,08826","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Electrical and Computer Engineering and ASRI,Seoul,Korea,08826","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024425360","display_name":"Gunmin Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gunmin Lee","raw_affiliation_strings":["Seoul National University,Department of Electrical and Computer Engineering and ASRI,Seoul,Korea,08826","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Electrical and Computer Engineering and ASRI,Seoul,Korea,08826","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033764106","display_name":"Songhwai Oh","orcid":"https://orcid.org/0000-0002-9781-2018"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Songhwai Oh","raw_affiliation_strings":["Seoul National University,Department of Electrical and Computer Engineering and ASRI,Seoul,Korea,08826","Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Electrical and Computer Engineering and ASRI,Seoul,Korea,08826","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering and ASRI, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034975936"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":2.423,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.89123618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2076","last_page":"2081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"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":0.9990000128746033,"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/T11303","display_name":"Bayesian Modeling and Causal Inference","score":0.9689000248908997,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9611999988555908,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7620389461517334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6362983584403992},{"id":"https://openalex.org/keywords/rule-based-system","display_name":"Rule-based system","score":0.5533313155174255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5442900061607361},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.532608151435852},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5319032669067383},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4843067228794098},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4248819649219513},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2466883659362793},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18249282240867615}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7620389461517334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6362983584403992},{"id":"https://openalex.org/C149271511","wikidata":"https://www.wikidata.org/wiki/Q1417149","display_name":"Rule-based system","level":2,"score":0.5533313155174255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5442900061607361},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.532608151435852},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5319032669067383},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4843067228794098},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4248819649219513},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2466883659362793},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18249282240867615},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8967708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:s-space.snu.ac.kr:10371/186933","is_oa":false,"landing_page_url":"https://hdl.handle.net/10371/186933","pdf_url":null,"source":{"id":"https://openalex.org/S4306401345","display_name":"Seoul National University Open Repository (Seoul National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139264467","host_organization_name":"Seoul National University","host_organization_lineage":["https://openalex.org/I139264467"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1527587747","https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W1959608418","https://openalex.org/W1986417217","https://openalex.org/W2064675550","https://openalex.org/W2092884371","https://openalex.org/W2095901198","https://openalex.org/W2188365844","https://openalex.org/W2235028240","https://openalex.org/W2424778531","https://openalex.org/W2607296803","https://openalex.org/W2735511423","https://openalex.org/W2799059904","https://openalex.org/W2892110232","https://openalex.org/W2963001155","https://openalex.org/W2964147651","https://openalex.org/W4294399973","https://openalex.org/W6631857535","https://openalex.org/W6632722279","https://openalex.org/W6640963894","https://openalex.org/W6646916188","https://openalex.org/W6687045409","https://openalex.org/W6689917546"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2381210024","https://openalex.org/W3131574667","https://openalex.org/W128654086","https://openalex.org/W2145006118"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,55,197],"is":[2,31,96,117,165],"a":[3,64,99,106,109,196],"challenging":[4],"problem":[5],"because":[6],"the":[7,41,44,50,53,77,112,115,120,141,145,161,174,183,201,206,210,213,217],"autonomous":[8,122,146,175],"vehicle":[9,176],"must":[10],"understand":[11],"complex":[12],"and":[13,26,40,69,88,105,123,148,179,204],"dynamic":[14],"environment.":[15],"This":[16],"understanding":[17],"consists":[18],"of":[19,23,43,67,71,73,114,185,216],"predicting":[20],"future":[21,65,129,214],"behavior":[22],"nearby":[24],"vehicles":[25,68],"recognizing":[27],"predefined":[28],"rules.":[29],"It":[30],"observed":[32],"that":[33],"not":[34],"all":[35],"rules":[36,45,211],"have":[37],"equivalent":[38],"values,":[39],"priority":[42],"may":[46],"change":[47],"depending":[48],"on":[49],"situation":[51,143],"or":[52],"driver's":[54],"style.":[56],"In":[57],"this":[58],"work,":[59],"we":[60],"jointly":[61],"reason":[62],"both":[63,121],"trajectories":[66,153],"degree":[70],"satisfaction":[72,113],"each":[74],"rule":[75,95,136],"in":[76,126,167,188],"deep":[78,162],"learning":[79,163],"framework.":[80],"Joint":[81],"reasoning":[82],"allows":[83,173],"modeling":[84],"interactions":[85],"between":[86],"vehicles,":[87],"leads":[89],"to":[90,111,128,200,209],"better":[91],"prediction":[92,215],"results.":[93],"A":[94],"represented":[97],"as":[98],"signal":[100],"temporal":[101],"logic":[102],"(STL)":[103],"formula,":[104],"robustness":[107,132],"slackness,":[108],"margin":[110],"rule,":[116],"predicted":[118,152,158],"for":[119,140,144,154],"other":[124],"vehicle,":[125,147],"addition":[127],"trajectories.":[130],"Learned":[131],"slackness":[133],"decides":[134],"which":[135,172],"should":[137],"be":[138],"prioritized":[139],"given":[142],"filter":[149],"out":[150],"non-valid":[151],"surrounding":[155,218],"vehicles.":[156,219],"The":[157],"information":[159],"from":[160],"framework":[164],"used":[166],"model":[168],"predictive":[169],"control":[170],"(MPC),":[171],"navigate":[177],"efficiently":[178],"safely.":[180],"We":[181],"test":[182],"feasibility":[184],"our":[186],"approach":[187],"publicly":[189],"available":[190],"NGSIM":[191],"datasets.":[192],"Proposed":[193],"method":[194],"shows":[195],"style":[198],"similar":[199],"human":[202],"one":[203],"considers":[205],"safety":[207],"related":[208],"through":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
