{"id":"https://openalex.org/W4308068586","doi":"https://doi.org/10.1109/itsc55140.2022.9921749","title":"Long-Tail Prediction Uncertainty Aware Trajectory Planning for Self-driving Vehicles","display_name":"Long-Tail Prediction Uncertainty Aware Trajectory Planning for Self-driving Vehicles","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308068586","doi":"https://doi.org/10.1109/itsc55140.2022.9921749"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921749","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","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/A5050020266","display_name":"Weitao Zhou","orcid":"https://orcid.org/0000-0002-1266-3843"},"institutions":[{"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":"Weitao Zhou","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China","School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016651437","display_name":"Zhong Cao","orcid":"https://orcid.org/0000-0002-2243-5705"},"institutions":[{"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":"Zhong Cao","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China","School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011187577","display_name":"Yunkang Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yunkang Xu","raw_affiliation_strings":["Toyota Motor Technical Research And Service (Shanghai) CO., Ltd.,Autonomous Driving & Advanced Safety System Development Div.,Shang-hai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Toyota Motor Technical Research And Service (Shanghai) CO., Ltd.,Autonomous Driving & Advanced Safety System Development Div.,Shang-hai,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013415505","display_name":"Nanshan Deng","orcid":null},"institutions":[{"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":"Nanshan Deng","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China","School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100455532","display_name":"Xiaoyu Liu","orcid":"https://orcid.org/0009-0006-2047-3640"},"institutions":[{"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":"Xiaoyu Liu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China","School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100786441","display_name":"Kun Jiang","orcid":"https://orcid.org/0000-0003-4995-7244"},"institutions":[{"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":"Kun Jiang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China","School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009072257","display_name":"Diange Yang","orcid":"https://orcid.org/0000-0003-0825-5609"},"institutions":[{"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":"Diange Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University,Beijing,China","School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1275","last_page":"1282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9984999895095825,"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":0.9984999895095825,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9900000095367432,"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"}},{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.9769999980926514,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8475111722946167},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.818899929523468},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.8070610761642456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7200115919113159},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.6669987440109253},{"id":"https://openalex.org/keywords/data-driven","display_name":"Data-driven","score":0.45366671681404114},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.43834537267684937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.373294472694397},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35556620359420776},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19436991214752197},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07461392879486084}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8475111722946167},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.818899929523468},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.8070610761642456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7200115919113159},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.6669987440109253},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.45366671681404114},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.43834537267684937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.373294472694397},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35556620359420776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19436991214752197},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07461392879486084},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921749","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921749","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4857645294","display_name":null,"funder_award_id":"U1864203,52102460","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6988613448","display_name":null,"funder_award_id":"2021M701883","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1989345169","https://openalex.org/W2107338474","https://openalex.org/W2493603909","https://openalex.org/W2782474430","https://openalex.org/W2783963507","https://openalex.org/W2891526102","https://openalex.org/W2968984153","https://openalex.org/W2975767248","https://openalex.org/W2997958396","https://openalex.org/W3014596384","https://openalex.org/W3034722190","https://openalex.org/W3062588417","https://openalex.org/W3107034996","https://openalex.org/W3113555494","https://openalex.org/W3132250316","https://openalex.org/W3134774296","https://openalex.org/W3136608531","https://openalex.org/W3141426068","https://openalex.org/W3149839747","https://openalex.org/W3196496175","https://openalex.org/W3200533894","https://openalex.org/W3206816884","https://openalex.org/W3209673450","https://openalex.org/W4206505268","https://openalex.org/W4220902452","https://openalex.org/W4295719664","https://openalex.org/W6745935785","https://openalex.org/W6772580117","https://openalex.org/W6779371077","https://openalex.org/W6782468546","https://openalex.org/W6790920653","https://openalex.org/W6791548536","https://openalex.org/W6802739845","https://openalex.org/W6806185089"],"related_works":["https://openalex.org/W1963593686","https://openalex.org/W2961085424","https://openalex.org/W2979468304","https://openalex.org/W4285782836","https://openalex.org/W3004162282","https://openalex.org/W4306674287","https://openalex.org/W2610446193","https://openalex.org/W2762832356","https://openalex.org/W4308068586","https://openalex.org/W4283833325"],"abstract_inverted_index":{"A":[0],"typical":[1],"trajectory":[2,63,95,119],"planner":[3,54,64,96],"of":[4,14,118,154,162],"self-driving":[5,155],"vehicles":[6,156],"commonly":[7],"relies":[8],"on":[9],"predicting":[10],"the":[11,40,45,67,84,101,111,116,122,130,136,150,158,163],"future":[12],"behavior":[13],"surrounding":[15],"obstacles.":[16],"Recently,":[17],"deep":[18],"learning":[19],"technology":[20,146],"has":[21],"been":[22],"widely":[23],"adopted":[24],"to":[25,30,53,65,89,99,141,148],"design":[26],"prediction":[27,68,85,105,123],"models":[28,36],"due":[29,88],"their":[31],"impressive":[32],"performance.":[33,77],"However,":[34],"such":[35],"may":[37],"fail":[38],"in":[39],"\u201clong-tail\u201d":[41],"driving":[42],"cases":[43],"where":[44],"training":[46,91],"data":[47,74,160],"is":[48,97],"sparse":[49],"or":[50],"unavailable,":[51],"leading":[52],"failures.":[55],"To":[56],"this":[57,59],"end,":[58],"work":[60],"proposes":[61],"a":[62,94],"consider":[66,100],"model":[69],"uncertainty":[70,87,124],"arising":[71,103],"from":[72,104],"insufficient":[73,90,127],"for":[75],"safer":[76],"Firstly,":[78],"an":[79],"ensemble":[80],"network":[81],"structure":[82],"estimates":[83],"model's":[86],"data.":[92,128],"Then":[93],"designed":[98],"worst-case":[102],"uncertainty.":[106],"The":[107],"results":[108],"show":[109],"that":[110],"proposed":[112],"method":[113],"can":[114],"improve":[115,149],"safety":[117,151],"planning":[120],"under":[121,157],"caused":[125],"by":[126],"At":[129],"same":[131],"time,":[132],"with":[133],"sufficient":[134],"data,":[135],"framework":[137],"will":[138],"not":[139],"lead":[140],"overly":[142],"conservative":[143],"results.":[144],"This":[145],"helps":[147],"and":[152],"reliability":[153],"long-tail":[159],"distribution":[161],"real":[164],"world.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}