{"id":"https://openalex.org/W3003878797","doi":"https://doi.org/10.1109/iros40897.2019.8968453","title":"End-to-End Driving Model for Steering Control of Autonomous Vehicles with Future Spatiotemporal Features","display_name":"End-to-End Driving Model for Steering Control of Autonomous Vehicles with Future Spatiotemporal Features","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003878797","doi":"https://doi.org/10.1109/iros40897.2019.8968453","mag":"3003878797"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968453","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":"conference-paper","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/A5082139444","display_name":"Tianhao Wu","orcid":"https://orcid.org/0000-0002-4553-1986"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianhao Wu","raw_affiliation_strings":["University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","institution_ids":["https://openalex.org/I150229711"]},{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073908409","display_name":"Ao Luo","orcid":"https://orcid.org/0000-0003-3494-8062"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ao Luo","raw_affiliation_strings":["University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","institution_ids":["https://openalex.org/I150229711"]},{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007231606","display_name":"Rui Huang","orcid":"https://orcid.org/0000-0001-7231-5042"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Huang","raw_affiliation_strings":["University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","institution_ids":["https://openalex.org/I150229711"]},{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042965582","display_name":"Hong Cheng","orcid":"https://orcid.org/0000-0001-5532-9530"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Cheng","raw_affiliation_strings":["University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","institution_ids":["https://openalex.org/I150229711"]},{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107593559","display_name":"Yang Zhao","orcid":"https://orcid.org/0000-0001-8023-1551"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhao","raw_affiliation_strings":["University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Electronic Science and Technology of China,School of Automation Engineering,Chengdu,China","institution_ids":["https://openalex.org/I150229711"]},{"raw_affiliation_string":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":6.0371,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.97887789,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"950","last_page":"955"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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":0.9997000098228455,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/end-to-end-principle","display_name":"End-to-end principle","score":0.8270245790481567},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.733770489692688},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.6789527535438538},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6540300846099854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5524208545684814},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5220641493797302},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.48712825775146484},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4647447466850281},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.44693008065223694},{"id":"https://openalex.org/keywords/driving-simulator","display_name":"Driving simulator","score":0.43849611282348633}],"concepts":[{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.8270245790481567},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.733770489692688},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.6789527535438538},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6540300846099854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5524208545684814},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5220641493797302},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.48712825775146484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4647447466850281},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.44693008065223694},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.43849611282348633},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968453","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2055207897","https://openalex.org/W2119112357","https://openalex.org/W2124651605","https://openalex.org/W2167224731","https://openalex.org/W2342840547","https://openalex.org/W2478820856","https://openalex.org/W2559767995","https://openalex.org/W2611430843","https://openalex.org/W2745467776","https://openalex.org/W2758107681","https://openalex.org/W2761595090","https://openalex.org/W2962762260","https://openalex.org/W3040318838","https://openalex.org/W4293580146","https://openalex.org/W4293682399","https://openalex.org/W4300124531","https://openalex.org/W4300172425","https://openalex.org/W6684338915","https://openalex.org/W6704559304","https://openalex.org/W6737309142","https://openalex.org/W6737454590","https://openalex.org/W6743448849","https://openalex.org/W6744454805"],"related_works":["https://openalex.org/W2468279273","https://openalex.org/W2354198838","https://openalex.org/W1989130879","https://openalex.org/W2103419012","https://openalex.org/W2988126442","https://openalex.org/W1974414866","https://openalex.org/W3179968364","https://openalex.org/W2063982682","https://openalex.org/W2338543196","https://openalex.org/W1544691147"],"abstract_inverted_index":{"End-to-end":[0],"deep":[1],"learning":[2],"has":[3,37,156],"gained":[4],"considerable":[5],"interests":[6],"in":[7,11,18,25,164],"autonomous":[8,30,178],"driving":[9,31,82,127,136,173,186],"vehicles":[10,32],"both":[12],"academic":[13],"and":[14,66,180],"industrial":[15],"fields,":[16],"especially":[17,163],"decision":[19,26],"making":[20,27],"process.":[21],"One":[22],"critical":[23],"issue":[24],"process":[28],"of":[29,70,124,133,145],"is":[33,188],"steering":[34,46,111,193],"control.":[35],"Researchers":[36],"already":[38],"trained":[39],"different":[40,108],"artificial":[41],"neural":[42,91],"networks":[43],"to":[44,102,120,190,199],"predict":[45,191],"angle":[47,112,194],"with":[48,93,143,195],"front-facing":[49],"camera":[50],"data":[51],"stream.":[52],"However,":[53],"existing":[54,147,161],"end-to-end":[55,81,126,135],"methods":[56],"only":[57],"consider":[58],"the":[59,68,104,125,131,139,153,171,184,192],"spatiotemporal":[60,73,105,122],"relation":[61],"on":[62,85,138,175],"a":[63,94,176],"single":[64],"layer":[65],"lack":[67],"ability":[69],"extracting":[71],"future":[72,117],"information.":[74],"In":[75],"this":[76],"paper,":[77],"we":[78,115,169],"propose":[79],"an":[80],"model":[83,137,155,174,187],"based":[84],"Convolutional":[86],"Long":[87],"Short-Term":[88],"Memory":[89],"(Conv-LSTM)":[90],"network":[92],"Multi-scale":[95],"Spatiotemporal":[96],"Integration":[97],"(MSI)":[98],"module,":[99],"which":[100],"aiming":[101],"encode":[103],"information":[106,119],"from":[107],"scales":[109],"for":[110],"prediction.":[113],"Moreover,":[114],"employ":[116],"sequential":[118],"enhance":[121],"features":[123],"model.":[128],"We":[129],"demonstrate":[130],"efficiency":[132],"proposed":[134,154,172,185],"public":[140],"Udacity":[141],"dataset":[142],"comparison":[144],"some":[146,165],"methods.":[148],"Experimental":[149],"results":[150,181],"show":[151,182],"that":[152,183],"better":[157],"performances":[158],"than":[159],"other":[160],"methods,":[162],"complex":[166],"scenarios.":[167],"Furthermore,":[168],"evaluate":[170],"real-time":[177],"vehicle,":[179],"able":[189],"high":[196],"accuracy":[197],"compared":[198],"skilled":[200],"human":[201],"driver.":[202]},"counts_by_year":[{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}