{"id":"https://openalex.org/W2941499360","doi":"https://doi.org/10.1109/ivs.2019.8814076","title":"Pedestrian Collision Avoidance System for Scenarios with Occlusions","display_name":"Pedestrian Collision Avoidance System for Scenarios with Occlusions","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2941499360","doi":"https://doi.org/10.1109/ivs.2019.8814076","mag":"2941499360"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8814076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1904.11566","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080975568","display_name":"Markus Schratter","orcid":"https://orcid.org/0000-0001-6054-9669"},"institutions":[{"id":"https://openalex.org/I4210112585","display_name":"Virtual Vehicle Research GmbH (Austria)","ror":"https://ror.org/029rc9g37","country_code":"AT","type":"company","lineage":["https://openalex.org/I4210112585"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Schratter","raw_affiliation_strings":["Virtual Vehicle Research Center, Graz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Virtual Vehicle Research Center, Graz, Austria","institution_ids":["https://openalex.org/I4210112585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003495895","display_name":"Maxime Bouton","orcid":"https://orcid.org/0000-0002-9151-1513"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxime Bouton","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","Stanford University ()"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000655556","display_name":"Daniel Watzenig","orcid":null},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["AT","US"],"is_corresponding":false,"raw_author_name":"Daniel Watzenig","raw_affiliation_strings":["Institute of Automation and Control, Graz University of Technology, Graz, Austria","Stanford University ()"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation and Control, Graz University of Technology, Graz, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4396,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.80495846,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1054","last_page":"1060"},"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":0.9977999925613403,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9973999857902527,"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/collision-avoidance","display_name":"Collision avoidance","score":0.7202295064926147},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.7195451259613037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.667121171951294},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.6446199417114258},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5971215963363647},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5142149925231934},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.4958570897579193},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4744476079940796},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.46662768721580505},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.46069926023483276},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.4524085819721222},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32977378368377686},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.321885347366333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21618083119392395},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19103893637657166},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.18700098991394043},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.17474406957626343},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.16012489795684814},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1554095447063446}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7202295064926147},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.7195451259613037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.667121171951294},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.6446199417114258},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5971215963363647},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5142149925231934},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.4958570897579193},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4744476079940796},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.46662768721580505},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.46069926023483276},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.4524085819721222},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32977378368377686},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.321885347366333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21618083119392395},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19103893637657166},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.18700098991394043},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.17474406957626343},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.16012489795684814},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1554095447063446},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/ivs.2019.8814076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1904.11566","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.11566","pdf_url":"https://arxiv.org/pdf/1904.11566","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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:2941499360","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1904.11566","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.1904.11566","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1904.11566","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"article-journal"},{"id":"mag:2986015317","is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/ivs/ivs2019.html#SchranerBKW19","pdf_url":null,"source":{"id":"https://openalex.org/S4363604372","display_name":"IV","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":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IV","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1904.11566","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.11566","pdf_url":"https://arxiv.org/pdf/1904.11566","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":0.8100000023841858,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2857035405","display_name":null,"funder_award_id":"COMET K2","funder_id":"https://openalex.org/F4320323031","funder_display_name":"\u00d6sterreichische Forschungsf\u00f6rderungsgesellschaft"},{"id":"https://openalex.org/G2902244613","display_name":null,"funder_award_id":"737469","funder_id":"https://openalex.org/F4320323031","funder_display_name":"\u00d6sterreichische Forschungsf\u00f6rderungsgesellschaft"},{"id":"https://openalex.org/G434337789","display_name":null,"funder_award_id":"HORIZON2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G86249554","display_name":"Advancing fail-aware, fail-safe, and fail-operational electronic components, systems, and architectures for fully automated driving to make future mobility safer, affordable, and end-user acceptable.","funder_award_id":"737469","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320323031","display_name":"\u00d6sterreichische Forschungsf\u00f6rderungsgesellschaft","ror":"https://ror.org/028jc0449"},{"id":"https://openalex.org/F4320323033","display_name":"Bundesministerium f\u00fcr Verkehr, Innovation und Technologie","ror":"https://ror.org/04marky29"},{"id":"https://openalex.org/F4320324794","display_name":"Steirische Wirtschaftsf\u00f6rderungsgesellschaft","ror":"https://ror.org/05x217f96"},{"id":"https://openalex.org/F4320326047","display_name":"Amt der Steierm\u00e4rkischen Landesregierung","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2941499360.pdf","grobid_xml":"https://content.openalex.org/works/W2941499360.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W1539216098","https://openalex.org/W2023837733","https://openalex.org/W2055501135","https://openalex.org/W2092187344","https://openalex.org/W2097545165","https://openalex.org/W2107338474","https://openalex.org/W2425606144","https://openalex.org/W2545546008","https://openalex.org/W2560882727","https://openalex.org/W2594287830","https://openalex.org/W2772946107","https://openalex.org/W2800381837","https://openalex.org/W2809695613","https://openalex.org/W2890685830","https://openalex.org/W2891629498","https://openalex.org/W2898058736","https://openalex.org/W3148740559","https://openalex.org/W6750951508"],"related_works":["https://openalex.org/W2986015317","https://openalex.org/W2891629498","https://openalex.org/W3081336819","https://openalex.org/W2971512585","https://openalex.org/W2904386121","https://openalex.org/W3110600470","https://openalex.org/W3124514933","https://openalex.org/W3163081386","https://openalex.org/W3087875326","https://openalex.org/W3132813762","https://openalex.org/W3162595567","https://openalex.org/W2806373172","https://openalex.org/W2953185125","https://openalex.org/W1584040247","https://openalex.org/W2891056855","https://openalex.org/W3122875934","https://openalex.org/W2970675230","https://openalex.org/W2215255691","https://openalex.org/W2974936104","https://openalex.org/W2896837315"],"abstract_inverted_index":{"Safe":[0],"autonomous":[1,104],"driving":[2],"in":[3,56],"urban":[4],"areas":[5],"requires":[6],"robust":[7,53,103],"algorithms":[8],"to":[9,49,54,63],"avoid":[10],"collisions":[11],"with":[12,16,68],"other":[13],"traffic":[14],"participants":[15],"limited":[17],"perception":[18],"ability.":[19],"Current":[20],"deployed":[21],"approaches":[22,100],"relying":[23],"on":[24,88,117],"Autonomous":[25],"Emergency":[26],"Braking":[27],"(AEB)":[28],"systems":[29],"are":[30],"often":[31],"overly":[32],"conservative.":[33],"In":[34,80],"this":[35],"work,":[36],"we":[37,82],"formulate":[38],"the":[39,57,98,114],"problem":[40],"as":[41],"a":[42,51,66,76,84,89,102],"partially":[43],"observable":[44],"Markov":[45],"decision":[46],"process":[47],"(POMDP),":[48],"derive":[50],"policy":[52,67],"uncertainty":[55],"pedestrian":[58],"location.":[59],"We":[60,94],"investigate":[61],"how":[62],"integrate":[64],"such":[65],"an":[69],"AEB":[70,115],"system":[71,106,116],"that":[72,96,107],"operates":[73],"only":[74],"when":[75],"collision":[77],"is":[78],"unavoidable.":[79],"addition,":[81],"propose":[83],"rigorous":[85],"evaluation":[86],"methodology":[87],"set":[90],"of":[91],"well-defined":[92],"scenarios.":[93],"show":[95],"combining":[97],"two":[99],"provides":[101],"braking":[105,110],"reduces":[108],"unnecessary":[109],"caused":[111],"by":[112],"using":[113],"its":[118],"own.":[119]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-09T07:27:16.801131","created_date":"2025-10-10T00:00:00"}