{"id":"https://openalex.org/W4389667578","doi":"https://doi.org/10.1109/iros55552.2023.10342247","title":"P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Driving","display_name":"P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Driving","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667578","doi":"https://doi.org/10.1109/iros55552.2023.10342247"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5100377836","display_name":"Qiao Sun","orcid":"https://orcid.org/0009-0003-1060-2371"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiao Sun","raw_affiliation_strings":["Shanghai Qi Zhi Institute and IIIS, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute and IIIS, Tsinghua University","institution_ids":["https://openalex.org/I4210122302","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031729932","display_name":"Xin Huang","orcid":"https://orcid.org/0000-0002-5625-0338"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xin Huang","raw_affiliation_strings":["Massachusetts Institute of Technology,CSAIL","CSAIL, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,CSAIL","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101709620","display_name":"Brian Williams","orcid":"https://orcid.org/0000-0002-1057-3940"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian C. Williams","raw_affiliation_strings":["Massachusetts Institute of Technology,CSAIL","CSAIL, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,CSAIL","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100418980","display_name":"Hang Zhao","orcid":"https://orcid.org/0000-0002-0482-1573"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhao","raw_affiliation_strings":["Shanghai Qi Zhi Institute and IIIS, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute and IIIS, Tsinghua University","institution_ids":["https://openalex.org/I4210122302","https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100377836"],"corresponding_institution_ids":["https://openalex.org/I4210122302","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.46,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62913036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5530","last_page":"5536"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9882000088691711,"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/T10524","display_name":"Traffic control and management","score":0.9840999841690063,"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/planner","display_name":"Planner","score":0.8274078965187073},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7301664352416992},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6689997911453247},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6328028440475464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5455708503723145},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5230318307876587},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5013628005981445},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.47533300518989563},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.4192262291908264},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3317127227783203},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32628485560417175},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.075619637966156}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8274078965187073},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7301664352416992},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6689997911453247},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6328028440475464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5455708503723145},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5230318307876587},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5013628005981445},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.47533300518989563},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.4192262291908264},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3317127227783203},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32628485560417175},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.075619637966156},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/13","score":0.49000000953674316,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W659584000","https://openalex.org/W2017989066","https://openalex.org/W2077758943","https://openalex.org/W2090045241","https://openalex.org/W2232565949","https://openalex.org/W2306644740","https://openalex.org/W2884634491","https://openalex.org/W2903709398","https://openalex.org/W2955189650","https://openalex.org/W2963001155","https://openalex.org/W2967177252","https://openalex.org/W2980087597","https://openalex.org/W3003235888","https://openalex.org/W3010475463","https://openalex.org/W3034722190","https://openalex.org/W3088862562","https://openalex.org/W3132059329","https://openalex.org/W3156216502","https://openalex.org/W3181350748","https://openalex.org/W3198662297","https://openalex.org/W3204385750","https://openalex.org/W3204875639","https://openalex.org/W3207915602","https://openalex.org/W4229450941","https://openalex.org/W4285102347","https://openalex.org/W4287115177","https://openalex.org/W4312663019","https://openalex.org/W4312809144","https://openalex.org/W4313162271","https://openalex.org/W4313189526","https://openalex.org/W6621939583","https://openalex.org/W6689666231","https://openalex.org/W6745935785","https://openalex.org/W6753596642","https://openalex.org/W6768870957","https://openalex.org/W6782468546","https://openalex.org/W6783147166","https://openalex.org/W6797256610"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2101105382"],"abstract_inverted_index":{"Motion":[0,162],"prediction":[1,38],"is":[2],"crucial":[3],"in":[4,12,108,154],"enabling":[5],"safe":[6,29],"motion":[7,32],"planning":[8],"for":[9,53],"autonomous":[10,63],"vehicles":[11],"interactive":[13,110,156],"scenarios.":[14],"It":[15],"allows":[16],"the":[17,54,60,78,85,105,114],"planner":[18],"to":[19,59,96,134],"identify":[20,51,135],"potential":[21],"conflicts":[22,52,136],"with":[23],"other":[24],"traffic":[25],"agents":[26],"and":[27,93,129,137],"generate":[28],"plans.":[30],"Existing":[31],"predictors":[33,71,86,153],"often":[34],"focus":[35],"on":[36,46],"reducing":[37],"errors,":[39],"yet":[40],"it":[41],"remains":[42],"an":[43,109],"open":[44],"question":[45],"how":[47],"well":[48],"they":[49],"help":[50],"planner,":[55],"which":[56],"are":[57],"critical":[58],"safety":[61],"of":[62,81,100],"vehicles.":[64],"In":[65],"this":[66],"paper,":[67],"we":[68,103,116],"evaluate":[69],"state-of-the-art":[70],"through":[72],"novel":[73],"conflict-related":[74],"metrics,":[75],"such":[76],"as":[77],"success":[79,91],"rate":[80,92],"identifying":[82],"conflicts.":[83],"Surprisingly,":[84],"suffer":[87],"from":[88,159],"a":[89,97,118,125,130],"low":[90],"thus":[94],"lead":[95],"large":[98],"percentage":[99],"collisions":[101],"when":[102],"test":[104],"prediction-planning":[106],"system":[107],"simulator.":[111],"To":[112],"fill":[113],"gap,":[115],"propose":[117],"simple":[119],"but":[120],"effective":[121],"alternative":[122],"that":[123,143],"combines":[124],"physics-based":[126],"trajectory":[127],"generator":[128],"learning-based":[131,152],"relation":[132],"predictor":[133],"infer":[138],"conflict":[139],"relations.":[140],"We":[141],"demonstrate":[142],"our":[144],"predictor,":[145],"P4P,":[146],"achieves":[147],"superior":[148],"performance":[149],"over":[150],"existing":[151],"realistic":[155],"driving":[157],"scenarios":[158],"Waymo":[160],"Open":[161],"Dataset.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
