{"id":"https://openalex.org/W2904229307","doi":"https://doi.org/10.1109/itsc.2018.8569524","title":"Human-Like Maneuver Decision Using LSTM-CRF Model for On-Road Self-Driving","display_name":"Human-Like Maneuver Decision Using LSTM-CRF Model for On-Road Self-Driving","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2904229307","doi":"https://doi.org/10.1109/itsc.2018.8569524","mag":"2904229307"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2018.8569524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2018.8569524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)","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/A5101465691","display_name":"Xiao Wang","orcid":"https://orcid.org/0000-0003-4441-139X"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Wang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006485407","display_name":"WU Jin-qiang","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinqiang Wu","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070068490","display_name":"Yanlei Gu","orcid":"https://orcid.org/0000-0001-9708-7429"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yanlei Gu","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100706029","display_name":"Hongbin Sun","orcid":"https://orcid.org/0000-0003-2153-2906"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Sun","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013585366","display_name":"Linhai Xu","orcid":"https://orcid.org/0000-0001-7785-6913"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linhai Xu","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109244048","display_name":"Shunsuke Kamijo","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Kamijo","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6516,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.85315731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"210","last_page":"216"},"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":0.9983999729156494,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.994700014591217,"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/computer-science","display_name":"Computer science","score":0.6646499633789062},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.6318924427032471},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.599122166633606},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.561575710773468},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5144162774085999},{"id":"https://openalex.org/keywords/conditional-random-field","display_name":"Conditional random field","score":0.510249137878418},{"id":"https://openalex.org/keywords/decision-model","display_name":"Decision model","score":0.4808652997016907},{"id":"https://openalex.org/keywords/road-traffic","display_name":"Road traffic","score":0.48004353046417236},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.475000262260437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45134326815605164},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.4324692189693451},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.41968604922294617},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3507646918296814},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.2489139437675476},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.244706928730011},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23279094696044922},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09721335768699646}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6646499633789062},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.6318924427032471},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.599122166633606},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.561575710773468},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5144162774085999},{"id":"https://openalex.org/C152565575","wikidata":"https://www.wikidata.org/wiki/Q1124538","display_name":"Conditional random field","level":2,"score":0.510249137878418},{"id":"https://openalex.org/C59594135","wikidata":"https://www.wikidata.org/wiki/Q5249242","display_name":"Decision model","level":2,"score":0.4808652997016907},{"id":"https://openalex.org/C2985695025","wikidata":"https://www.wikidata.org/wiki/Q4323994","display_name":"Road traffic","level":2,"score":0.48004353046417236},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.475000262260437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45134326815605164},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.4324692189693451},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.41968604922294617},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3507646918296814},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.2489139437675476},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.244706928730011},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23279094696044922},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09721335768699646},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc.2018.8569524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2018.8569524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 21st International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1505721114","https://openalex.org/W1919962963","https://openalex.org/W1987108535","https://openalex.org/W2003642326","https://openalex.org/W2007700466","https://openalex.org/W2030713743","https://openalex.org/W2064675550","https://openalex.org/W2083651391","https://openalex.org/W2145989380","https://openalex.org/W2147880316","https://openalex.org/W2343381408","https://openalex.org/W2343568200","https://openalex.org/W2517236235","https://openalex.org/W2562521694","https://openalex.org/W2573941966","https://openalex.org/W2582443945","https://openalex.org/W2734024016","https://openalex.org/W2740361510","https://openalex.org/W2770017764","https://openalex.org/W2962902328","https://openalex.org/W2963914175","https://openalex.org/W6682082992","https://openalex.org/W6731106972"],"related_works":["https://openalex.org/W2356597680","https://openalex.org/W2093471820","https://openalex.org/W50079190","https://openalex.org/W2114846443","https://openalex.org/W3102147106","https://openalex.org/W2111726165","https://openalex.org/W2347460059","https://openalex.org/W1984858032","https://openalex.org/W2616891703","https://openalex.org/W3151400124"],"abstract_inverted_index":{"In":[0,77],"the":[1,55,61,112,143,152,179,192],"near":[2],"future,":[3],"self-driving":[4,25,40],"vehicles":[5,26,41],"will":[6,14],"be":[7],"frequently":[8],"tested":[9],"in":[10,46,71],"urban":[11],"traffic,":[12],"and":[13,57,94,135],"definitely":[15],"coexist":[16],"with":[17,169],"human-driving":[18],"vehicles.":[19],"To":[20],"harmoniously":[21],"share":[22],"traffic":[23,133],"resources,":[24],"need":[27],"to":[28,44,50,53,59],"respect":[29],"behavioral":[30],"customs":[31],"of":[32,131,159,165,197],"human":[33,166],"drivers.":[34,167],"Taking":[35],"on-road":[36,73,103],"driving":[37,160],"for":[38,102,175],"example,":[39],"are":[42],"supposed":[43],"behave":[45],"a":[47,80,117,124,129,139,186],"human-like":[48,81,173,188],"way":[49],"decide":[51],"when":[52,58],"keep":[54],"lane":[56],"change":[60],"lane.":[62],"This":[63],"point,":[64],"however,":[65],"has":[66],"not":[67],"been":[68],"well":[69],"addressed":[70],"current":[72],"maneuver":[74,82,113,176],"decision":[75,83,114,177],"methods.":[76,199],"this":[78,109],"paper,":[79],"method":[84,194],"based":[85],"on":[86,151],"Long":[87],"Short":[88],"Term":[89],"Memory":[90],"(LST-M)":[91],"neural":[92],"network":[93],"Conditional":[95],"Random":[96],"Field":[97],"(CRF)":[98],"model":[99,148],"is":[100,123,138,149],"proposed":[101,147,180,193],"self-driving.":[104],"Different":[105],"from":[106,163],"previous":[107,198],"works,":[108],"paper":[110],"considers":[111],"problem":[115],"as":[116],"sequence":[118],"labeling":[119],"problem.":[120],"Its":[121],"input":[122],"time-series":[125],"vector":[126,141],"which":[127,156],"describes":[128],"period":[130],"neighboring":[132],"history,":[134],"its":[136],"output":[137],"one-hot":[140],"indicates":[142],"suitable":[144],"maneuver.":[145],"The":[146],"trained":[150],"NGSIM":[153],"public":[154],"dataset,":[155],"contains":[157],"millions":[158],"maneuvers":[161],"collected":[162],"thousands":[164],"Simulations":[168],"manipulated":[170],"conditions":[171],"reveal":[172],"reasoning":[174],"inside":[178],"model.":[181],"Comparative":[182],"experiments":[183],"further":[184],"demonstrate":[185],"better":[187],"performance":[189],"achieved":[190],"by":[191],"than":[195],"that":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-10-10T00:00:00"}