{"id":"https://openalex.org/W2991411121","doi":"https://doi.org/10.1109/itsc.2019.8917240","title":"Comfortable Priority Handling with Predictive Velocity Optimization for Intersection Crossings","display_name":"Comfortable Priority Handling with Predictive Velocity Optimization for Intersection Crossings","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2991411121","doi":"https://doi.org/10.1109/itsc.2019.8917240","mag":"2991411121"},"language":"en","primary_location":{"id":"doi:10.1109/itsc.2019.8917240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8917240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2303.07936","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003684082","display_name":"Tim Puphal","orcid":"https://orcid.org/0000-0002-1144-5158"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Puphal","raw_affiliation_strings":["Honda Research Institute (HRI) Europe, Offenbach, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute (HRI) Europe, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017193501","display_name":"Malte Probst","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Malte Probst","raw_affiliation_strings":["Honda Research Institute (HRI) Europe, Offenbach, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute (HRI) Europe, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052711633","display_name":"Misa Komuro","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Misa Komuro","raw_affiliation_strings":["Honda Innovation Lab (HIL) Tokyo, Honda R&D Co., Ltd., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Innovation Lab (HIL) Tokyo, Honda R&D Co., Ltd., Tokyo, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052419646","display_name":"Yiyang Li","orcid":"https://orcid.org/0009-0005-8708-2153"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yiyang Li","raw_affiliation_strings":["Honda Innovation Lab (HIL) Tokyo, Honda R&D Co., Ltd., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Innovation Lab (HIL) Tokyo, Honda R&D Co., Ltd., Tokyo, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039532032","display_name":"Julian Eggert","orcid":"https://orcid.org/0000-0003-4437-6133"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Eggert","raw_affiliation_strings":["Honda Research Institute (HRI) Europe, Offenbach, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute (HRI) Europe, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5102,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.70556905,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2435","last_page":"2442"},"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/T10370","display_name":"Traffic and Road Safety","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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":0.9948999881744385,"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/intersection","display_name":"Intersection (aeronautics)","score":0.7356268167495728},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6579873561859131},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6252883672714233},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6022665500640869},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5774879455566406},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5571463108062744},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5133992433547974},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.438186913728714},{"id":"https://openalex.org/keywords/duration","display_name":"Duration (music)","score":0.43347156047821045},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4026556611061096},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33706629276275635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24270221590995789},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18618953227996826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18124818801879883},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.1742590069770813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17054620385169983}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7356268167495728},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6579873561859131},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6252883672714233},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6022665500640869},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5774879455566406},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5571463108062744},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5133992433547974},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.438186913728714},{"id":"https://openalex.org/C112758219","wikidata":"https://www.wikidata.org/wiki/Q16038819","display_name":"Duration (music)","level":2,"score":0.43347156047821045},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4026556611061096},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33706629276275635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24270221590995789},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18618953227996826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18124818801879883},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.1742590069770813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17054620385169983},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/itsc.2019.8917240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc.2019.8917240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2303.07936","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.07936","pdf_url":"https://arxiv.org/pdf/2303.07936","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:117149","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/117149/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2303.07936","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.07936","pdf_url":"https://arxiv.org/pdf/2303.07936","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2991411121.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W20499850","https://openalex.org/W629248918","https://openalex.org/W1504992226","https://openalex.org/W1854087040","https://openalex.org/W1897740768","https://openalex.org/W1988126250","https://openalex.org/W2022481548","https://openalex.org/W2080405611","https://openalex.org/W2114013702","https://openalex.org/W2128060716","https://openalex.org/W2134445238","https://openalex.org/W2166028065","https://openalex.org/W2221280282","https://openalex.org/W2295218917","https://openalex.org/W2505763307","https://openalex.org/W2564091245","https://openalex.org/W2568340555","https://openalex.org/W2749747771","https://openalex.org/W2760981468","https://openalex.org/W2890375627","https://openalex.org/W2897060676","https://openalex.org/W3100247915","https://openalex.org/W4297781990","https://openalex.org/W4300504163"],"related_works":["https://openalex.org/W2348837382","https://openalex.org/W746329893","https://openalex.org/W4205872570","https://openalex.org/W4245971243","https://openalex.org/W1922805944","https://openalex.org/W4253588120","https://openalex.org/W2383732295","https://openalex.org/W2942717012","https://openalex.org/W4248716494","https://openalex.org/W3123772816"],"abstract_inverted_index":{"We":[0],"address":[1],"the":[2,19,26,53,67,119,150],"problem":[3],"of":[4,56,116,121,141],"motion":[5],"planning":[6,49],"for":[7,137],"four-way":[8],"intersection":[9],"crossings":[10],"with":[11,75],"right-of-ways.":[12],"Road":[13],"safety":[14],"typically":[15],"assigns":[16],"liability":[17],"to":[18,25,30,38,88,106,134],"follower":[20],"in":[21,32,154],"rear-end":[22],"collisions":[23],"and":[24,63,97,111,114,125,145],"approaching":[27],"vehicle":[28,143],"required":[29],"yield":[31],"side":[33],"crashes.":[34],"As":[35],"an":[36],"alternative":[37],"previous":[39],"models":[40],"based":[41],"on":[42,66],"heuristic":[43],"state":[44],"machines,":[45],"we":[46],"propose":[47],"a":[48,76,109,138,155],"framework":[50],"which":[51],"changes":[52],"prediction":[54],"model":[55],"other":[57,142,151],"cars":[58,152],"(e.g.":[59],"their":[60],"prototypical":[61],"accelerations":[62],"decelerations)":[64],"depending":[65],"given":[68],"longitudinal":[69],"or":[70],"lateral":[71],"priority":[72],"rules.":[73],"Combined":[74],"state-of-the":[77],"art":[78],"trajectory":[79],"optimization":[80],"approach":[81],"ROPT":[82,158],"(Risk":[83],"Optimization":[84],"Method)":[85],"this":[86],"allows":[87],"find":[89],"ego":[90],"velocity":[91],"profiles":[92],"minimizing":[93],"risks":[94],"from":[95],"curves":[96],"all":[98],"involved":[99],"vehicles":[100],"while":[101],"maximizing":[102],"utility":[103],"(needed":[104],"time":[105],"arrive":[107],"at":[108],"goal)":[110],"comfort":[112],"(change":[113],"duration":[115],"acceleration)":[117],"under":[118],"presence":[120],"regulatory":[122],"conditions.":[123],"Analytical":[124],"statistical":[126],"evaluations":[127],"show":[128],"that":[129],"our":[130],"method":[131],"is":[132],"able":[133],"follow":[135],"right-of-ways":[136],"wide":[139],"range":[140],"behaviors":[144],"path":[146],"geometries.":[147],"Even":[148],"when":[149],"drive":[153],"non-priority-compliant":[156],"way,":[157],"achieves":[159],"good":[160],"risk-comfort":[161],"tradeoffs.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}