{"id":"https://openalex.org/W3026720697","doi":"https://doi.org/10.1109/iv47402.2020.9304635","title":"Model Predictive Instantaneous Safety Metric for Evaluation of Automated Driving Systems","display_name":"Model Predictive Instantaneous Safety Metric for Evaluation of Automated Driving Systems","publication_year":2020,"publication_date":"2020-10-19","ids":{"openalex":"https://openalex.org/W3026720697","doi":"https://doi.org/10.1109/iv47402.2020.9304635","mag":"3026720697"},"language":"en","primary_location":{"id":"doi:10.1109/iv47402.2020.9304635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2005.09999","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033842396","display_name":"Bowen Weng","orcid":"https://orcid.org/0000-0002-7868-9747"},"institutions":[{"id":"https://openalex.org/I1282462722","display_name":"United States Department of Transportation","ror":"https://ror.org/02xfw2e90","country_code":"US","type":"government","lineage":["https://openalex.org/I1282462722"]},{"id":"https://openalex.org/I1319829091","display_name":"Ohio Department of Transportation","ror":"https://ror.org/014303d61","country_code":"US","type":"government","lineage":["https://openalex.org/I1319829091"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bowen Weng","raw_affiliation_strings":["Transportation Research Center Inc., East Liberty, Ohio, USA","US Dept. of Transportation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Transportation Research Center Inc., East Liberty, Ohio, USA","institution_ids":["https://openalex.org/I1319829091"]},{"raw_affiliation_string":"US Dept. of Transportation","institution_ids":["https://openalex.org/I1282462722"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101660313","display_name":"Sughosh J. Rao","orcid":"https://orcid.org/0009-0003-7366-2400"},"institutions":[{"id":"https://openalex.org/I1282462722","display_name":"United States Department of Transportation","ror":"https://ror.org/02xfw2e90","country_code":"US","type":"government","lineage":["https://openalex.org/I1282462722"]},{"id":"https://openalex.org/I1319829091","display_name":"Ohio Department of Transportation","ror":"https://ror.org/014303d61","country_code":"US","type":"government","lineage":["https://openalex.org/I1319829091"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sughosh J. Rao","raw_affiliation_strings":["Transportation Research Center Inc., East Liberty, Ohio, USA","US Dept. of Transportation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Transportation Research Center Inc., East Liberty, Ohio, USA","institution_ids":["https://openalex.org/I1319829091"]},{"raw_affiliation_string":"US Dept. of Transportation","institution_ids":["https://openalex.org/I1282462722"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011924870","display_name":"Eeshan Deosthale","orcid":null},"institutions":[{"id":"https://openalex.org/I1319829091","display_name":"Ohio Department of Transportation","ror":"https://ror.org/014303d61","country_code":"US","type":"government","lineage":["https://openalex.org/I1319829091"]},{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eeshan Deosthale","raw_affiliation_strings":["Transportation Research Center Inc., East Liberty, Ohio, USA","Ohio State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Transportation Research Center Inc., East Liberty, Ohio, USA","institution_ids":["https://openalex.org/I1319829091"]},{"raw_affiliation_string":"Ohio State University","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055143171","display_name":"Scott Schnelle","orcid":"https://orcid.org/0000-0003-1903-3024"},"institutions":[{"id":"https://openalex.org/I1282462722","display_name":"United States Department of Transportation","ror":"https://ror.org/02xfw2e90","country_code":"US","type":"government","lineage":["https://openalex.org/I1282462722"]},{"id":"https://openalex.org/I1338365311","display_name":"National Highway Traffic Safety Administration","ror":"https://ror.org/04gcfqs37","country_code":"US","type":"funder","lineage":["https://openalex.org/I1282462722","https://openalex.org/I1338365311"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Schnelle","raw_affiliation_strings":["National Highway Traffic Safety Administration, USA","US Dept. of Transportation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Highway Traffic Safety Administration, USA","institution_ids":["https://openalex.org/I1338365311"]},{"raw_affiliation_string":"US Dept. of Transportation","institution_ids":["https://openalex.org/I1282462722"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020949646","display_name":"Frank Barickman","orcid":null},"institutions":[{"id":"https://openalex.org/I1282462722","display_name":"United States Department of Transportation","ror":"https://ror.org/02xfw2e90","country_code":"US","type":"government","lineage":["https://openalex.org/I1282462722"]},{"id":"https://openalex.org/I1338365311","display_name":"National Highway Traffic Safety Administration","ror":"https://ror.org/04gcfqs37","country_code":"US","type":"funder","lineage":["https://openalex.org/I1282462722","https://openalex.org/I1338365311"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Barickman","raw_affiliation_strings":["National Highway Traffic Safety Administration, USA","US Dept. of Transportation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Highway Traffic Safety Administration, USA","institution_ids":["https://openalex.org/I1338365311"]},{"raw_affiliation_string":"US Dept. of Transportation","institution_ids":["https://openalex.org/I1282462722"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4956,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.65721069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1899","last_page":"1906"},"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/T10524","display_name":"Traffic control and management","score":0.9961000084877014,"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/T11195","display_name":"Simulation Techniques and Applications","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6271297931671143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6042390465736389},{"id":"https://openalex.org/keywords/ordinary-differential-equation","display_name":"Ordinary differential equation","score":0.5586279630661011},{"id":"https://openalex.org/keywords/closeness","display_name":"Closeness","score":0.5548381805419922},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.539704442024231},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5129765868186951},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.4561966061592102},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4537295997142792},{"id":"https://openalex.org/keywords/minimax","display_name":"Minimax","score":0.4256446361541748},{"id":"https://openalex.org/keywords/snapshot","display_name":"Snapshot (computer storage)","score":0.41438499093055725},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4101945757865906},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.2829345464706421},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22631007432937622},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.203421950340271},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.14188948273658752}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6271297931671143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6042390465736389},{"id":"https://openalex.org/C51544822","wikidata":"https://www.wikidata.org/wiki/Q465274","display_name":"Ordinary differential equation","level":3,"score":0.5586279630661011},{"id":"https://openalex.org/C2779545769","wikidata":"https://www.wikidata.org/wiki/Q5135364","display_name":"Closeness","level":2,"score":0.5548381805419922},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.539704442024231},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5129765868186951},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.4561966061592102},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4537295997142792},{"id":"https://openalex.org/C149728462","wikidata":"https://www.wikidata.org/wiki/Q751319","display_name":"Minimax","level":2,"score":0.4256446361541748},{"id":"https://openalex.org/C55282118","wikidata":"https://www.wikidata.org/wiki/Q252683","display_name":"Snapshot (computer storage)","level":2,"score":0.41438499093055725},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4101945757865906},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.2829345464706421},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22631007432937622},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.203421950340271},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.14188948273658752},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iv47402.2020.9304635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2005.09999","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.09999","pdf_url":"https://arxiv.org/pdf/2005.09999","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":"mag:3026720697","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2005.09999","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2005.09999","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2005.09999","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2005.09999","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.09999","pdf_url":"https://arxiv.org/pdf/2005.09999","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3026720697.pdf","grobid_xml":"https://content.openalex.org/works/W3026720697.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1574960890","https://openalex.org/W1583936024","https://openalex.org/W1965760189","https://openalex.org/W1969160376","https://openalex.org/W2013298725","https://openalex.org/W2016151598","https://openalex.org/W2021667711","https://openalex.org/W2092187344","https://openalex.org/W2158400962","https://openalex.org/W2470353224","https://openalex.org/W2496649228","https://openalex.org/W2589869525","https://openalex.org/W2734442305","https://openalex.org/W2740071316","https://openalex.org/W2744160955","https://openalex.org/W2749747771","https://openalex.org/W2905059695","https://openalex.org/W2970679500","https://openalex.org/W3141595720","https://openalex.org/W6625771834","https://openalex.org/W6635087183"],"related_works":["https://openalex.org/W3127534513","https://openalex.org/W57156090","https://openalex.org/W2759834774","https://openalex.org/W2605083894","https://openalex.org/W2515431458","https://openalex.org/W3122312372","https://openalex.org/W3126681642","https://openalex.org/W2798995106","https://openalex.org/W2287137969","https://openalex.org/W3034324074","https://openalex.org/W3152565073","https://openalex.org/W3112570678","https://openalex.org/W2410617946","https://openalex.org/W2182043246","https://openalex.org/W3122943162","https://openalex.org/W2171346888","https://openalex.org/W3127903962","https://openalex.org/W593406727","https://openalex.org/W2912660645","https://openalex.org/W2003698063"],"abstract_inverted_index":{"Vehicles":[0],"with":[1,12,42,183],"Automated":[2],"Driving":[3],"Systems":[4],"(ADS)":[5],"operate":[6],"in":[7,82,144],"a":[8,94,115,127,131,159,167],"high-dimensional":[9],"continuous":[10,16],"system":[11,17],"multiagent":[13],"interactions.":[14],"This":[15],"features":[18],"various":[19,61],"types":[20],"of":[21,79,84,106,142,146,161,166],"traffic":[22,117],"agents":[23],"(non-homogeneous)":[24],"governed":[25],"by":[26],"continuous-motion":[27],"ordinary":[28],"differential":[29],"equations":[30],"(differential-drive).":[31],"Each":[32],"agent":[33],"makes":[34],"decisions":[35],"independently":[36],"that":[37,59],"may":[38],"lead":[39],"to":[40,75,126,149],"conflicts":[41],"the":[43,77,80,103,107,110,123,147,156,170],"subject":[44],"vehicle":[45,55],"(SV),":[46],"as":[47,49,158],"well":[48],"other":[50],"participants":[51],"(non-cooperative).":[52],"A":[53],"typical":[54],"safety":[56,86,104,112,143,176],"evaluation":[57,133,177],"procedure":[58],"uses":[60],"safety-critical":[62],"scenarios":[63],"and":[64,186],"observes":[65],"resultant":[66],"collisions":[67],"(or":[68],"near":[69],"collisions),":[70],"is":[71,172],"not":[72],"sufficient":[73],"enough":[74],"evaluate":[76],"performance":[78],"ADS":[81],"terms":[83,145],"operational":[85],"status":[87,105],"maintenance.":[88],"In":[89],"this":[90],"paper,":[91],"we":[92],"introduce":[93],"Model":[95],"Predictive":[96],"Instantaneous":[97],"Safety":[98],"Metric":[99],"(MPrISM),":[100],"which":[101],"determines":[102],"SV,":[108],"considering":[109],"worst-case":[111],"scenario":[113],"for":[114,174],"given":[116],"snapshot.":[118],"The":[119,136],"method":[120,171],"then":[121],"analyzes":[122],"SV's":[124],"closeness":[125],"potential":[128],"collision":[129,150],"within":[130],"certain":[132],"time":[134,148],"period.":[135],"described":[137],"metric":[138],"induces":[139],"theoretical":[140],"guarantees":[141],"under":[151],"standard":[152],"assumptions.":[153],"Through":[154],"formulating":[155],"solution":[157],"series":[160],"minimax":[162],"quadratic":[163],"optimization":[164],"problems":[165],"specific":[168],"structure,":[169],"tractable":[173],"real-time":[175],"applications.":[178],"Its":[179],"capabilities":[180],"are":[181],"demonstrated":[182],"synthesized":[184],"examples":[185],"cases":[187],"derived":[188],"from":[189],"real-world":[190],"tests.":[191]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}