{"id":"https://openalex.org/W2050500173","doi":"https://doi.org/10.1109/itsc.2013.6728219","title":"Maneuver prediction at intersections using cost-to-go gradients","display_name":"Maneuver prediction at intersections using cost-to-go gradients","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2050500173","doi":"https://doi.org/10.1109/itsc.2013.6728219","mag":"2050500173"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2013.6728219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2013.6728219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)","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/A5029487838","display_name":"Andreas Eichhorn","orcid":"https://orcid.org/0000-0001-8373-9115"},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas von Eichhorn","raw_affiliation_strings":["BMW Group, Research and Technology, Munich, Germany","[Research and Technology, BMW Group, Munich, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW Group, Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":"[Research and Technology, BMW Group, Munich, Germany]","institution_ids":["https://openalex.org/I1283382300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027250190","display_name":"Moritz Werling","orcid":null},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Werling","raw_affiliation_strings":["BMW Group, Research and Technology, Munich, Germany","[Research and Technology, BMW Group, Munich, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW Group, Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":"[Research and Technology, BMW Group, Munich, Germany]","institution_ids":["https://openalex.org/I1283382300"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060390502","display_name":"Peter Zahn","orcid":null},"institutions":[{"id":"https://openalex.org/I1283382300","display_name":"BMW (Germany)","ror":"https://ror.org/05vs9tj88","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"id":"https://openalex.org/I4210156768","display_name":"BMW Group (Germany)","ror":"https://ror.org/044kkbh92","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210156768"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter Zahn","raw_affiliation_strings":["BMW Group, Research and Technology, Munich, Germany","[Research and Technology, BMW Group, Munich, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BMW Group, Research and Technology, Munich, Germany","institution_ids":["https://openalex.org/I1283382300","https://openalex.org/I4210156768"]},{"raw_affiliation_string":"[Research and Technology, BMW Group, Munich, Germany]","institution_ids":["https://openalex.org/I1283382300"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021650598","display_name":"Dieter Schramm","orcid":"https://orcid.org/0000-0002-7945-1853"},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dieter Schramm","raw_affiliation_strings":["University of Duisburg-Essen, Institut of Mechatronics, Duisburg, Germany","Inst. of Mechatron., Univ. of Duisburg-Essen, Duisburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Duisburg-Essen, Institut of Mechatronics, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"Inst. of Mechatron., Univ. of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"112","last_page":"117"},"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9993000030517578,"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":0.9991000294685364,"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/jerk","display_name":"Jerk","score":0.8237242698669434},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6785973906517029},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.6288989782333374},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5188676118850708},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5108225345611572},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4960523545742035},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4778327941894531},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.46664977073669434},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46512529253959656},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4504554867744446},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4122394323348999},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4120691418647766},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3710634112358093},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3407546579837799},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2500835955142975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24501729011535645},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.212045818567276},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15941652655601501},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15127897262573242},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.12569797039031982}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.8237242698669434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6785973906517029},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.6288989782333374},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5188676118850708},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5108225345611572},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4960523545742035},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4778327941894531},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.46664977073669434},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46512529253959656},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4504554867744446},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4122394323348999},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4120691418647766},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3710634112358093},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3407546579837799},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2500835955142975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24501729011535645},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.212045818567276},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15941652655601501},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15127897262573242},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.12569797039031982},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2013.6728219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2013.6728219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Good health and well-being","id":"https://metadata.un.org/sdg/3"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321469","display_name":"Bundesministerium f\u00fcr Wirtschaft und Technologie","ror":"https://ror.org/02vgg2808"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W2030032449","https://openalex.org/W2070291139","https://openalex.org/W2093696950","https://openalex.org/W2125321788","https://openalex.org/W2127041626","https://openalex.org/W2131762276","https://openalex.org/W2136445059","https://openalex.org/W2165609373","https://openalex.org/W2166813035","https://openalex.org/W2611243847","https://openalex.org/W2615131551"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W4293226006","https://openalex.org/W2039317814","https://openalex.org/W2145006118"],"abstract_inverted_index":{"According":[0],"to":[1,29,70,79,103,117],"the":[2,32,40,54,67,71,80,131],"analysis":[3],"of":[4,26,35,56,74,130],"car":[5],"accidents":[6],"many":[7],"casualties":[8],"occur":[9],"at":[10,22],"intersections.":[11],"As":[12],"ongoing":[13],"research":[14],"demonstrates,":[15],"Advanced":[16],"Driver":[17],"Assistance":[18],"Systems":[19],"that":[20,93],"aim":[21],"preventing":[23],"this":[24,43,115],"type":[25],"accident,":[27],"need":[28],"reliably":[30],"predict":[31],"turning":[33],"maneuver":[34],"all":[36],"relevant":[37],"participants":[38],"in":[39,139],"scene.":[41],"In":[42,108],"work":[44],"an":[45,57,62],"approach":[46,133],"is":[47,89,125,134],"introduced,":[48],"which":[49,124],"models":[50],"human":[51,105],"drivers":[52],"as":[53],"optimizer":[55],"optimal":[58,85],"control":[59,86],"problem":[60,87],"with":[61,91,100,110,143],"unknown":[63],"terminal":[64,72],"state.":[65],"Tracking":[66],"cost-to-go":[68],"gradient":[69],"state":[73],"each":[75],"driving":[76,106],"option":[77],"leads":[78,116],"most":[81],"plausible":[82],"hypothesis.":[83],"The":[84,128],"itself":[88],"formulated":[90],"costs":[92],"minimize":[94],"jerk,":[95],"time":[96],"and":[97],"steering":[98],"effort":[99],"good":[101],"resemblance":[102],"typical":[104],"behavior.":[107],"combination":[109],"a":[111,118,140],"simplified":[112],"vehicle":[113],"model":[114],"nonlinear":[119],"constrained":[120],"dynamic":[121],"optimization":[122],"problem,":[123],"solved":[126],"numerically.":[127],"performance":[129],"proposed":[132],"evaluated":[135],"on":[136],"data":[137],"obtained":[138],"field":[141],"test":[142],"promising":[144],"results.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}