{"id":"https://openalex.org/W4317796411","doi":"https://doi.org/10.1109/jsyst.2023.3234200","title":"SOTIF-Oriented Perception Evaluation Method for Forward Obstacle Detection of Autonomous Vehicles","display_name":"SOTIF-Oriented Perception Evaluation Method for Forward Obstacle Detection of Autonomous Vehicles","publication_year":2023,"publication_date":"2023-01-23","ids":{"openalex":"https://openalex.org/W4317796411","doi":"https://doi.org/10.1109/jsyst.2023.3234200"},"language":"en","primary_location":{"id":"doi:10.1109/jsyst.2023.3234200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2023.3234200","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"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 Systems 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/A5082728617","display_name":"Jiayun Chu","orcid":"https://orcid.org/0000-0003-0049-2095"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I68581759","display_name":"China Academy of Launch Vehicle Technology","ror":"https://ror.org/012z62f48","country_code":"CN","type":"facility","lineage":["https://openalex.org/I68581759"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiayun Chu","raw_affiliation_strings":["School of Reliability and Systems Engineering, Beihang University, Beijing, China","China Academy of Launch Vehicle Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Reliability and Systems Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"China Academy of Launch Vehicle Technology, Beijing, China","institution_ids":["https://openalex.org/I68581759"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068087375","display_name":"Tingdi Zhao","orcid":"https://orcid.org/0000-0002-8616-4983"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingdi Zhao","raw_affiliation_strings":["School of Reliability and Systems Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Reliability and Systems Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044907307","display_name":"Jian Jiao","orcid":"https://orcid.org/0000-0002-6593-0407"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Jiao","raw_affiliation_strings":["School of Reliability and Systems Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Reliability and Systems Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334733","display_name":"Yuan Yuan","orcid":"https://orcid.org/0000-0001-7964-6514"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Yuan","raw_affiliation_strings":["School of Reliability and Systems Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Reliability and Systems Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035824665","display_name":"Yongfeng Jing","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongfeng Jing","raw_affiliation_strings":["School of Reliability and Systems Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Reliability and Systems Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5082728617"],"corresponding_institution_ids":["https://openalex.org/I68581759","https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.4951,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.80821963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"17","issue":"2","first_page":"2319","last_page":"2330"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"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":0.9991999864578247,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9955999851226807,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.974399983882904,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8037034869194031},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.750185489654541},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6319965124130249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6059973835945129},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5124602913856506},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4192650020122528},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35494714975357056},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.332058846950531},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3097744584083557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.300692617893219},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1273643672466278},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09106481075286865}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8037034869194031},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.750185489654541},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6319965124130249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6059973835945129},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5124602913856506},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4192650020122528},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35494714975357056},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.332058846950531},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3097744584083557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.300692617893219},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1273643672466278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09106481075286865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jsyst.2023.3234200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsyst.2023.3234200","pdf_url":null,"source":{"id":"https://openalex.org/S95999327","display_name":"IEEE Systems Journal","issn_l":"1932-8184","issn":["1932-8184","1937-9234","2373-7816"],"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 Systems Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W42608200","https://openalex.org/W948746072","https://openalex.org/W1674505557","https://openalex.org/W2058539271","https://openalex.org/W2070724998","https://openalex.org/W2094658656","https://openalex.org/W2136261253","https://openalex.org/W2137467968","https://openalex.org/W2143318894","https://openalex.org/W2462934404","https://openalex.org/W2616434112","https://openalex.org/W2692319782","https://openalex.org/W2749747771","https://openalex.org/W2756335502","https://openalex.org/W2761982724","https://openalex.org/W2775019958","https://openalex.org/W2792919579","https://openalex.org/W2795800960","https://openalex.org/W2885798252","https://openalex.org/W2886498661","https://openalex.org/W2898405206","https://openalex.org/W2900505429","https://openalex.org/W2908326044","https://openalex.org/W2908808036","https://openalex.org/W2911486422","https://openalex.org/W2930418732","https://openalex.org/W2970858908","https://openalex.org/W2982632394","https://openalex.org/W2987375645","https://openalex.org/W2991468119","https://openalex.org/W3004785469","https://openalex.org/W3010924348","https://openalex.org/W3015640286","https://openalex.org/W3036077044","https://openalex.org/W3043650969","https://openalex.org/W3093898074","https://openalex.org/W3133037048","https://openalex.org/W4211256356","https://openalex.org/W4225555528","https://openalex.org/W4297781990","https://openalex.org/W6719437059","https://openalex.org/W6761209238","https://openalex.org/W6773189760","https://openalex.org/W6885007147"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1561646347","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W2346323633","https://openalex.org/W1971413691","https://openalex.org/W3043170174"],"abstract_inverted_index":{"The":[0,141],"inclusion":[1],"of":[2,22,47,71,145,164,220],"autonomous":[3,72,147,211],"vehicles":[4],"into":[5,86],"our":[6,165],"society":[7],"requires":[8],"not":[9],"only":[10],"mature":[11],"automated":[12],"technologies":[13],"but":[14],"also":[15],"adequate":[16],"confidence":[17],"in":[18,49,81,161,199],"safety":[19,99],"guarantees.":[20],"Safety":[21],"the":[23,98,105,111,122,153,162,175,181,185,190,218,221,231],"intended":[24],"functionality":[25],"(SOTIF)":[26],"is":[27,94,132,149,159,194,214],"an":[28,146,197],"incipient":[29],"important":[30],"field":[31],"that":[32,155,178],"focuses":[33],"on":[34,97],"risk":[35],"led":[36],"by":[37,134],"performance":[38],"limitations":[39],"rather":[40],"than":[41],"faults.":[42],"There":[43],"are":[44,84],"still":[45],"plenty":[46],"gaps":[48],"addressing":[50],"it,":[51],"especially":[52],"when":[53],"concerning":[54],"perception":[55,65,82,108,112,143,187],"ability.":[56],"This":[57],"article":[58],"introduces":[59],"a":[60,89,116,127,203,209],"method":[61],"to":[62,120,174,208,216,229],"evaluate":[63],"SOTIF-oriented":[64,128],"effectiveness":[66,219],"for":[67,235],"forward":[68],"obstacle":[69],"detection":[70],"vehicles.":[73],"Both":[74],"inevitable":[75],"existence":[76],"uncertainty":[77,80],"and":[78,88,110,138,184,189],"state":[79],"results":[83,224],"taken":[85],"account,":[87],"formal":[90],"SOTIF":[91,123,182,233],"requirement":[92,124],"specification":[93],"defined.":[95],"Based":[96],"distance":[100],"model,":[101],"we":[102],"further":[103],"deduce":[104],"minimum":[106],"required":[107],"area":[109],"error":[113],"requirements":[114,183],"under":[115],"given":[117],"driving":[118],"situation":[119],"refine":[121],"specification.":[125],"Then,":[126],"unified":[129],"sensing":[130,136,167],"model":[131],"established":[133],"combining":[135],"space":[137],"ability":[139,144],"characteristics.":[140],"system-level":[142,186],"vehicle":[148,212],"subsequently":[150],"deduced":[151],"with":[152],"assumption":[154],"every":[156],"available":[157],"sensor":[158],"described":[160],"form":[163],"proposed":[166],"model.":[168],"Evaluation":[169,223],"can":[170,225],"be":[171],"executed":[172],"according":[173,207],"above":[176],"methods":[177],"support":[179],"determining":[180],"ability,":[188],"entire":[191],"evaluation":[192],"process":[193],"presented":[195],"as":[196,227],"algorithm":[198],"this":[200],"article.":[201],"Finally,":[202],"practical":[204],"case":[205],"generated":[206],"well-known":[210],"prototype":[213],"used":[215],"prove":[217],"method.":[222],"serve":[226],"suggestions":[228],"improve":[230],"overall":[232],"level":[234],"perception.":[236]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
