{"id":"https://openalex.org/W4391768865","doi":"https://doi.org/10.1109/itsc57777.2023.10422694","title":"Scenario-Based Trajectory Generation and Density Estimation Towards Risk Analysis of Autonomous Vehicles","display_name":"Scenario-Based Trajectory Generation and Density Estimation Towards Risk Analysis of Autonomous Vehicles","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391768865","doi":"https://doi.org/10.1109/itsc57777.2023.10422694"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422694","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.chalmers.se/publication/540320/file/540320_Fulltext.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074019339","display_name":"Edvin Johansson","orcid":"https://orcid.org/0000-0003-2515-2054"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Edvin Johansson","raw_affiliation_strings":["Chalmers University of Technology,Department of Computer Science and Engineering,Sweden","Department of Computer Science and Engineering, Chalmers University of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Department of Computer Science and Engineering,Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093124431","display_name":"Matilda S\u00f6nnergaard","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Matilda S\u00f6nnergaard","raw_affiliation_strings":["Chalmers University of Technology,Department of Computer Science and Engineering,Sweden","Department of Computer Science and Engineering, Chalmers University of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Department of Computer Science and Engineering,Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089339336","display_name":"Selpi Selpi","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Selpi","raw_affiliation_strings":["Chalmers University of Technology,Department of Computer Science and Engineering,Sweden","Department of Computer Science and Engineering, Chalmers University of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Department of Computer Science and Engineering,Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004340971","display_name":"Sadegh Rahrovani","orcid":null},"institutions":[{"id":"https://openalex.org/I1340210623","display_name":"Volvo (Sweden)","ror":"https://ror.org/05b6ypc36","country_code":"SE","type":"company","lineage":["https://openalex.org/I1340210623"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sadegh Rahrovani","raw_affiliation_strings":["Autonomous Drive Department in VolvoCars,Sweden","Autonomous Drive Department in VolvoCars, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Drive Department in VolvoCars,Sweden","institution_ids":["https://openalex.org/I1340210623"]},{"raw_affiliation_string":"Autonomous Drive Department in VolvoCars, Sweden","institution_ids":["https://openalex.org/I1340210623"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5093124432","display_name":"Parsia Basimfar","orcid":null},"institutions":[{"id":"https://openalex.org/I1340210623","display_name":"Volvo (Sweden)","ror":"https://ror.org/05b6ypc36","country_code":"SE","type":"company","lineage":["https://openalex.org/I1340210623"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Parsia Basimfar","raw_affiliation_strings":["Autonomous Drive Department in VolvoCars,Sweden","Autonomous Drive Department in VolvoCars, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Drive Department in VolvoCars,Sweden","institution_ids":["https://openalex.org/I1340210623"]},{"raw_affiliation_string":"Autonomous Drive Department in VolvoCars, Sweden","institution_ids":["https://openalex.org/I1340210623"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1375","last_page":"1380"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9962000250816345,"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":0.9962000250816345,"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/T11487","display_name":"Automotive and Human Injury Biomechanics","score":0.9546999931335449,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9304999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.788304328918457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6362990140914917},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5490971207618713},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16461020708084106},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11796408891677856}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.788304328918457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6362990140914917},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5490971207618713},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16461020708084106},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11796408891677856},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422694","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:research.chalmers.se:540320","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/8cce88bf-81b6-40d6-8fdb-4165ef6a4fb8","pdf_url":"https://research.chalmers.se/publication/540320/file/540320_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null}],"best_oa_location":{"id":"pmh:oai:research.chalmers.se:540320","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/8cce88bf-81b6-40d6-8fdb-4165ef6a4fb8","pdf_url":"https://research.chalmers.se/publication/540320/file/540320_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[{"display_name":"Climate action","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391768865.pdf","grobid_xml":"https://content.openalex.org/works/W4391768865.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W2104067967","https://openalex.org/W2516815969","https://openalex.org/W2594367393","https://openalex.org/W2607662938","https://openalex.org/W2656095251","https://openalex.org/W2970360512","https://openalex.org/W2992005611","https://openalex.org/W3045495201","https://openalex.org/W3048236912","https://openalex.org/W3089197134","https://openalex.org/W3096831136","https://openalex.org/W3150807214","https://openalex.org/W3160246678","https://openalex.org/W3190994148","https://openalex.org/W4233536607","https://openalex.org/W4235434335","https://openalex.org/W4281561868","https://openalex.org/W4312363838","https://openalex.org/W6610566761","https://openalex.org/W6679045638","https://openalex.org/W6763486065","https://openalex.org/W6767782324","https://openalex.org/W6770847983","https://openalex.org/W6782093355","https://openalex.org/W6846490468"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W2382290278","https://openalex.org/W4323768008","https://openalex.org/W2478288626"],"abstract_inverted_index":{"A":[0],"large":[1],"amount":[2],"of":[3,24,34,52,61,85,128,152,205],"testing":[4,182],"is":[5,41,187],"needed":[6],"to":[7,30,74,78,104,114,124,162,188,200],"determine":[8],"when":[9],"autonomous":[10],"vehicles":[11],"are":[12,83],"sufficiently":[13],"safe.":[14],"To":[15],"achieve":[16],"this":[17,67],"goal,":[18],"test":[19,173],"cases":[20],"should":[21],"be":[22,122,160,178,198],"representative":[23,84],"real-world":[25],"driving":[26],"but":[27,195],"also":[28,197],"designed":[29],"provide":[31],"sufficient":[32],"coverage":[33],"both":[35],"frequent":[36],"and":[37,58,142,147,169],"rare":[38,191],"events.":[39],"This":[40],"a":[42,71,106,116],"crucial":[43],"step":[44],"in":[45],"finding":[46],"potential":[47],"high-consequence":[48],"events,":[49],"failure":[50,203],"borders":[51],"the":[53,62,86,90,126,134,140,154,164,185,190,202],"Autonomous":[54],"Driving":[55],"(AD)":[56],"function":[57],"accurate":[59],"estimation":[60],"corresponding":[63],"residual":[64],"risks.":[65],"In":[66],"paper,":[68],"we":[69,148],"propose":[70],"new":[72],"method":[73,94,111,135],"adapt":[75],"generative":[76],"models":[77],"generate":[79],"vehicle":[80],"trajectories":[81],"that":[82,120],"ones":[87],"collected":[88],"from":[89],"real":[91],"world.":[92],"The":[93,110,175],"uses":[95],"Non-Uniform":[96],"Rational":[97],"B-Splines":[98],"(NURBS)":[99],"combined":[100],"with":[101],"normalizing":[102],"flows":[103],"build":[105],"statistical":[107,137],"scenario":[108,146],"model.":[109],"allows":[112],"us":[113],"estimate":[115],"joint":[117,156],"probability":[118,157,168,204],"density":[119],"can":[121,159,177,196],"used":[123,161,179,199],"evaluate":[125],"likelihood":[127],"different":[129,172],"trajectory":[130],"occurrences.":[131],"We":[132],"demonstrate":[133],"for":[136,171,180],"modeling":[138],"on":[139],"(smooth":[141],"abrupt)":[143],"cut-in":[144],"traffic":[145],"give":[149],"an":[150],"example":[151],"how":[153],"estimated":[155],"distribution":[158],"assess":[163],"risk":[165],"(trajectory":[166],"occurrence":[167],"criticality)":[170],"cases.":[174],"results":[176],"accelerated":[181],"purposes,":[183],"where":[184],"aim":[186],"sample":[189],"tests":[192],"more":[193],"frequently,":[194],"calculate":[201],"AD":[206],"functions.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
