{"id":"https://openalex.org/W4206085687","doi":"https://doi.org/10.1109/ivworkshops54471.2021.9669208","title":"Probabilistic VRU Trajectory Forecasting for Model-Predictive Planning A Case Study: Overtaking Cyclists","display_name":"Probabilistic VRU Trajectory Forecasting for Model-Predictive Planning A Case Study: Overtaking Cyclists","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W4206085687","doi":"https://doi.org/10.1109/ivworkshops54471.2021.9669208"},"language":"en","primary_location":{"id":"doi:10.1109/ivworkshops54471.2021.9669208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivworkshops54471.2021.9669208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)","raw_type":"proceedings-article"},"type":"article","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/A5091830254","display_name":"Jan Schneegans","orcid":null},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]},{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Schneegans","raw_affiliation_strings":["Intelligent Embedded Systems Lab, University of Kassel, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Embedded Systems Lab, University of Kassel, Germany","institution_ids":["https://openalex.org/I106157433","https://openalex.org/I4210094487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073914616","display_name":"Jan Eilbrecht","orcid":null},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Eilbrecht","raw_affiliation_strings":["Control and Systems Theory Lab, University of Kassel, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Systems Theory Lab, University of Kassel, Germany","institution_ids":["https://openalex.org/I106157433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086864323","display_name":"Stefan Zernetsch","orcid":"https://orcid.org/0000-0003-2016-5059"},"institutions":[{"id":"https://openalex.org/I4210158205","display_name":"Aschaffenburg University of Applied Sciences","ror":"https://ror.org/04sms9203","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210158205"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Zernetsch","raw_affiliation_strings":["Faculty of Engineering, University of Applied Sciences Aschaffenburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Applied Sciences Aschaffenburg, Germany","institution_ids":["https://openalex.org/I4210158205"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022867597","display_name":"Maarten Bieshaar","orcid":"https://orcid.org/0000-0002-6471-6062"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]},{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maarten Bieshaar","raw_affiliation_strings":["Intelligent Embedded Systems Lab, University of Kassel, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Embedded Systems Lab, University of Kassel, Germany","institution_ids":["https://openalex.org/I106157433","https://openalex.org/I4210094487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047844917","display_name":"Konrad Doll","orcid":"https://orcid.org/0000-0002-3746-2319"},"institutions":[{"id":"https://openalex.org/I4210158205","display_name":"Aschaffenburg University of Applied Sciences","ror":"https://ror.org/04sms9203","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210158205"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Konrad Doll","raw_affiliation_strings":["Faculty of Engineering, University of Applied Sciences Aschaffenburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Applied Sciences Aschaffenburg, Germany","institution_ids":["https://openalex.org/I4210158205"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040756775","display_name":"Olaf Stursberg","orcid":"https://orcid.org/0000-0002-9600-457X"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Olaf Stursberg","raw_affiliation_strings":["Control and Systems Theory Lab, University of Kassel, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Systems Theory Lab, University of Kassel, Germany","institution_ids":["https://openalex.org/I106157433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065340030","display_name":"Bernhard Sick","orcid":"https://orcid.org/0000-0001-9467-656X"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]},{"id":"https://openalex.org/I4210094487","display_name":"Intel (Germany)","ror":"https://ror.org/00m2x0g47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1343180700","https://openalex.org/I4210094487"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernhard Sick","raw_affiliation_strings":["Intelligent Embedded Systems Lab, University of Kassel, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Embedded Systems Lab, University of Kassel, Germany","institution_ids":["https://openalex.org/I106157433","https://openalex.org/I4210094487"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4649,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.64470324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"272","last_page":"279"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.85829097032547},{"id":"https://openalex.org/keywords/overtaking","display_name":"Overtaking","score":0.8542683720588684},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7271018624305725},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5035383105278015},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4152718782424927},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41442596912384033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3819390535354614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28653234243392944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10156780481338501},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.10111981630325317}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.85829097032547},{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.8542683720588684},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7271018624305725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5035383105278015},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4152718782424927},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41442596912384033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3819390535354614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28653234243392944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10156780481338501},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.10111981630325317},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivworkshops54471.2021.9669208","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivworkshops54471.2021.9669208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1506806321","https://openalex.org/W1522301498","https://openalex.org/W1601512022","https://openalex.org/W1971086298","https://openalex.org/W1981934656","https://openalex.org/W1984505032","https://openalex.org/W2004803051","https://openalex.org/W2008814617","https://openalex.org/W2065429801","https://openalex.org/W2096904991","https://openalex.org/W2101415982","https://openalex.org/W2150292516","https://openalex.org/W2244486986","https://openalex.org/W2294538342","https://openalex.org/W2306644740","https://openalex.org/W2313953460","https://openalex.org/W2336416123","https://openalex.org/W2343568200","https://openalex.org/W2424778531","https://openalex.org/W2517622066","https://openalex.org/W2592363585","https://openalex.org/W2631888524","https://openalex.org/W2688316891","https://openalex.org/W2739560744","https://openalex.org/W2749680651","https://openalex.org/W2761168002","https://openalex.org/W2787794795","https://openalex.org/W2903010856","https://openalex.org/W2905427618","https://openalex.org/W2946231253","https://openalex.org/W2962730596","https://openalex.org/W2964193755","https://openalex.org/W2967515279","https://openalex.org/W2968008415","https://openalex.org/W3013376041","https://openalex.org/W3090474915","https://openalex.org/W3107209377","https://openalex.org/W3172477795","https://openalex.org/W3176593467","https://openalex.org/W3208851523","https://openalex.org/W4213041519","https://openalex.org/W4287205887","https://openalex.org/W4300999067","https://openalex.org/W6631190155","https://openalex.org/W6744127860","https://openalex.org/W6744426313","https://openalex.org/W6783147166","https://openalex.org/W6793510043"],"related_works":["https://openalex.org/W3084163143","https://openalex.org/W3198453306","https://openalex.org/W3081587374","https://openalex.org/W591161629","https://openalex.org/W2294880310","https://openalex.org/W3004478217","https://openalex.org/W3208192858","https://openalex.org/W2102544652","https://openalex.org/W2618142536","https://openalex.org/W1998625354"],"abstract_inverted_index":{"This":[0],"article":[1],"examines":[2],"probabilistic":[3,111],"trajectory":[4,91,112,116],"forecasting":[5,65],"methods":[6,54],"of":[7,16,22,58,101,109],"vulnerable":[8],"road":[9],"users":[10],"(VRU)":[11],"for":[12,77,93],"the":[13,44,62,78,99,102,107],"motion":[14],"planning":[15,92,117],"autonomous":[17,79],"vehicles.":[18],"The":[19,81,96],"future":[20],"trajectories":[21],"a":[23,86],"cyclist":[24],"are":[25,50,118],"predicted":[26],"by":[27,52],"Quantile":[28],"Surface":[29],"Neural":[30,36],"Networks":[31,37],"(QSN)":[32],"and":[33,66,114],"Mixture":[34],"Density":[35],"(MDN),":[38],"both":[39],"modeling":[40],"confidence":[41],"regions":[42,49,74],"around":[43],"cyclist\u2019s":[45],"expected":[46],"locations.":[47],"Confidence":[48],"approximated":[51],"different":[53],"with":[55],"varying":[56],"degrees":[57],"complexity":[59],"to":[60],"bridge":[61],"gap":[63],"between":[64],"planning.":[67],"Model-Predictive":[68],"Planning":[69],"(MPP)":[70],"based":[71],"on":[72,106],"these":[73],"is":[75,83],"used":[76],"vehicle.":[80],"approach":[82],"evaluated":[84],"using":[85],"case":[87],"study":[88],"regarding":[89],"safe":[90],"overtaking":[94],"cyclists.":[95],"experiments":[97],"show":[98],"effectiveness":[100],"approach.":[103],"Different":[104],"considerations":[105],"use":[108],"combined":[110],"prediction":[113],"vehicle":[115],"included.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}