{"id":"https://openalex.org/W4414122464","doi":"https://doi.org/10.1109/jiot.2025.3608834","title":"Pedestrian Trajectory Prediction for Autonomous Vehicles With Multiple Interactions","display_name":"Pedestrian Trajectory Prediction for Autonomous Vehicles With Multiple Interactions","publication_year":2025,"publication_date":"2025-09-11","ids":{"openalex":"https://openalex.org/W4414122464","doi":"https://doi.org/10.1109/jiot.2025.3608834"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3608834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3608834","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5103151322","display_name":"Zheng Fu","orcid":"https://orcid.org/0000-0002-5166-1525"},"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":"Zheng Fu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5166-1525","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, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014512074","display_name":"Mengmeng Yang","orcid":"https://orcid.org/0000-0002-3294-6437"},"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":"Mengmeng Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3294-6437","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, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097357974","display_name":"Yuhang Xu","orcid":"https://orcid.org/0009-0008-8249-410X"},"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":"Yuhang Xu","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-8249-410X","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, State Key Laboratory of Intelligent Green 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, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4995-7244","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, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004735889","display_name":"Shuai Liu","orcid":"https://orcid.org/0000-0002-0327-6729"},"institutions":[{"id":"https://openalex.org/I3125743391","display_name":"China University of Geosciences (Beijing)","ror":"https://ror.org/04q6c7p66","country_code":"CN","type":"education","lineage":["https://openalex.org/I3125743391"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Liu","raw_affiliation_strings":["China University of Geosciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China University of Geosciences, Beijing, China","institution_ids":["https://openalex.org/I3125743391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087389386","display_name":"Jin Huang","orcid":"https://orcid.org/0000-0001-8774-2936"},"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":"Jin Huang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8774-2936","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, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100740193","display_name":"Hao Gao","orcid":"https://orcid.org/0000-0003-0148-3713"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Gao","raw_affiliation_strings":["College of Automation and the College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-0148-3713","affiliations":[{"raw_affiliation_string":"College of Automation and the College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101987780","display_name":"Zhihua Zhong","orcid":"https://orcid.org/0009-0003-6530-9930"},"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":"Zhihua Zhong","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China","School of Vehicle and Mobility, State Key Laboratory of Intelligent Green 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, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100735948","display_name":"Diange Yang","orcid":"https://orcid.org/0000-0002-0074-2448"},"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, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0074-2448","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, State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22263727,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":"23","first_page":"50340","last_page":"50354"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9814000129699707,"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":0.9606000185012817,"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/pedestrian","display_name":"Pedestrian","score":0.847100019454956},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.741599977016449},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7146999835968018},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.5705999732017517},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.3878999948501587},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.3831000030040741},{"id":"https://openalex.org/keywords/interaction-model","display_name":"Interaction model","score":0.34220001101493835}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.847100019454956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8091999888420105},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.741599977016449},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7146999835968018},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.5705999732017517},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5134999752044678},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.3878999948501587},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36880001425743103},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3492000102996826},{"id":"https://openalex.org/C2780806968","wikidata":"https://www.wikidata.org/wiki/Q6045196","display_name":"Interaction model","level":2,"score":0.34220001101493835},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.3221000134944916},{"id":"https://openalex.org/C38764148","wikidata":"https://www.wikidata.org/wiki/Q17098245","display_name":"Interaction information","level":2,"score":0.29600000381469727},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C172367668","wikidata":"https://www.wikidata.org/wiki/Q6504956","display_name":"Data visualization","level":3,"score":0.2822999954223633},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27399998903274536},{"id":"https://openalex.org/C173414695","wikidata":"https://www.wikidata.org/wiki/Q5510276","display_name":"Fusion mechanism","level":4,"score":0.25920000672340393}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3608834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3608834","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1451373909","display_name":null,"funder_award_id":"23L10038","funder_id":"https://openalex.org/F4320334977","funder_display_name":"Beijing Municipal Natural Science Foundation"},{"id":"https://openalex.org/G1913929480","display_name":null,"funder_award_id":"61931012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1929027860","display_name":null,"funder_award_id":"52394264","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G951889214","display_name":null,"funder_award_id":"52472449","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W2245440101","https://openalex.org/W2424778531","https://openalex.org/W2593239008","https://openalex.org/W2607296803","https://openalex.org/W2766836212","https://openalex.org/W2769735038","https://openalex.org/W2771583656","https://openalex.org/W2951870359","https://openalex.org/W2962687116","https://openalex.org/W2963001155","https://openalex.org/W2963818059","https://openalex.org/W2968393007","https://openalex.org/W2969294606","https://openalex.org/W2990179116","https://openalex.org/W2991484432","https://openalex.org/W3034398756","https://openalex.org/W3035096461","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3088333196","https://openalex.org/W3107552218","https://openalex.org/W3108486966","https://openalex.org/W3108908812","https://openalex.org/W3109478114","https://openalex.org/W3116651890","https://openalex.org/W3119170582","https://openalex.org/W3127710918","https://openalex.org/W3138516171","https://openalex.org/W3157779442","https://openalex.org/W3191907322","https://openalex.org/W3196864007","https://openalex.org/W3209837334","https://openalex.org/W3214950490","https://openalex.org/W4210457203","https://openalex.org/W4210933607","https://openalex.org/W4220803191","https://openalex.org/W4281737392","https://openalex.org/W4281752744","https://openalex.org/W4285108118","https://openalex.org/W4312305613","https://openalex.org/W4312311771","https://openalex.org/W4312417903","https://openalex.org/W4312743914","https://openalex.org/W4312769570","https://openalex.org/W4312803983","https://openalex.org/W4312893480","https://openalex.org/W4312894406","https://openalex.org/W4313057812","https://openalex.org/W4313175646","https://openalex.org/W4313189526","https://openalex.org/W4318963850","https://openalex.org/W4321611535","https://openalex.org/W4384271202","https://openalex.org/W4385221361","https://openalex.org/W4385322823","https://openalex.org/W4385544218","https://openalex.org/W4386508878","https://openalex.org/W4390399426","https://openalex.org/W4390871698","https://openalex.org/W4400426194","https://openalex.org/W4402916169"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2392100589","https://openalex.org/W2512789322","https://openalex.org/W3122828758","https://openalex.org/W2101960027","https://openalex.org/W4205958986","https://openalex.org/W2197846993","https://openalex.org/W49697837"],"abstract_inverted_index":{"Pedestrian":[0],"trajectory":[1,13,41],"prediction":[2,14,42,159],"is":[3,91],"significant":[4],"for":[5],"autonomous":[6],"vehicles,":[7],"but":[8],"the":[9,17,31,51,70,82,94,100,105,110,116,128,134,140,174],"difficulty":[10],"of":[11,20,34,113,136,178],"pedestrian":[12,21,35,40],"lies":[15],"in":[16,115,154],"accurate":[18],"modeling":[19],"multiple":[22,46],"interactions.":[23,47],"In":[24],"this":[25],"paper,":[26],"we":[27,66,118],"attempt":[28],"to":[29,69,80,126],"explore":[30],"essential":[32],"features":[33],"interaction":[36,52,83,90,130],"and":[37,56,74,86,144,157,169,176],"propose":[38],"a":[39,59,76,120,163],"method":[43],"based":[44],"on":[45,139],"Firstly,":[48],"considering":[49],"that":[50],"between":[53,84],"self-driving":[54],"cars":[55],"pedestrians":[57,85,114],"resembles":[58],"dynamic":[60],"game":[61],"process":[62],"involving":[63],"sequential":[64],"adaptation,":[65],"map":[67],"them":[68],"same":[71],"feature":[72],"space":[73],"design":[75,119],"temporal":[77],"cross-attention":[78],"mechanism":[79],"model":[81,127],"vehicles.":[87],"Meanwhile,":[88],"pedestrian-scene":[89,121,129],"affected":[92],"by":[93],"global":[95,106],"environment":[96],"as":[97,99],"well":[98],"local":[101],"environment.":[102],"To":[103],"capture":[104],"information":[107],"while":[108],"preserving":[109],"spatial":[111],"location":[112],"scene,":[117],"heatmap":[122],"fusion":[123],"(PSHF)":[124],"framework":[125],"features.":[131],"We":[132,161],"validate":[133],"effectiveness":[135,175],"our":[137,179],"algorithm":[138],"publicly":[141],"available":[142],"JAAD":[143],"PIE":[145],"datasets,":[146],"achieving":[147],"better":[148],"performance":[149],"than":[150],"existing":[151],"representative":[152],"methods":[153],"both":[155],"single-trajectory":[156],"multi-trajectory":[158],"tasks.":[160],"conducted":[162],"thorough":[164],"ablation":[165],"study,":[166],"cross-dataset":[167],"validation,":[168],"qualitative":[170],"visualization":[171],"experiments,":[172],"demonstrating":[173],"robustness":[177],"method.":[180]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
