{"id":"https://openalex.org/W3127869230","doi":"https://doi.org/10.1109/lra.2021.3058930","title":"Predicting the Time Until a Vehicle Changes the Lane Using LSTM-Based Recurrent Neural Networks","display_name":"Predicting the Time Until a Vehicle Changes the Lane Using LSTM-Based Recurrent Neural Networks","publication_year":2021,"publication_date":"2021-02-13","ids":{"openalex":"https://openalex.org/W3127869230","doi":"https://doi.org/10.1109/lra.2021.3058930","mag":"3127869230"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3058930","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3058930","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9285111/09353203.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9285111/09353203.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072658828","display_name":"Florian Wirthm\u00fcller","orcid":"https://orcid.org/0000-0002-9732-2561"},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]},{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Florian Wirthmuller","raw_affiliation_strings":["Institute of Databases and Information Systems (DBIS), Ulm University, Ulm, Germany","Mercedes-Benz AG, B\u00f6blingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9732-2561","affiliations":[{"raw_affiliation_string":"Institute of Databases and Information Systems (DBIS), Ulm University, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Mercedes-Benz AG, B\u00f6blingen, Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065440334","display_name":"Marvin Klimke","orcid":"https://orcid.org/0000-0003-2647-9673"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marvin Klimke","raw_affiliation_strings":["RWTH Aachen University, Aachen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2647-9673","affiliations":[{"raw_affiliation_string":"RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035552570","display_name":"Julian Schlechtriemen","orcid":"https://orcid.org/0000-0002-9130-061X"},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]},{"id":"https://openalex.org/I206895457","display_name":"University of Siegen","ror":"https://ror.org/02azyry73","country_code":"DE","type":"education","lineage":["https://openalex.org/I206895457"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Schlechtriemen","raw_affiliation_strings":["Institute of Realtime Learning Systems, University of Siegen, Siegen, Germany","Mercedes-Benz AG, B\u00f6blingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9130-061X","affiliations":[{"raw_affiliation_string":"Institute of Realtime Learning Systems, University of Siegen, Siegen, Germany","institution_ids":["https://openalex.org/I206895457"]},{"raw_affiliation_string":"Mercedes-Benz AG, B\u00f6blingen, Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049480184","display_name":"Jochen Hipp","orcid":null},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen Hipp","raw_affiliation_strings":["Mercedes-Benz AG, B\u00f6blingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9037-9899","affiliations":[{"raw_affiliation_string":"Mercedes-Benz AG, B\u00f6blingen, Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075861532","display_name":"Manfred Reichert","orcid":"https://orcid.org/0000-0003-2536-4153"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manfred Reichert","raw_affiliation_strings":["Institute of Databases and Information Systems (DBIS), Ulm University, Ulm, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2536-4153","affiliations":[{"raw_affiliation_string":"Institute of Databases and Information Systems (DBIS), Ulm University, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072658828"],"corresponding_institution_ids":["https://openalex.org/I1332474105","https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":2.417,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.88246449,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"2357","last_page":"2364"},"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":0.9908999800682068,"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/T10370","display_name":"Traffic and Road Safety","score":0.9873999953269958,"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/computer-science","display_name":"Computer science","score":0.7420834302902222},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6001709699630737},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5918458104133606},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5522890686988831},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.4947599768638611},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4628218114376068},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4556167721748352},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.43036335706710815},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4158564805984497},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4104287922382355},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1530078947544098},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11284133791923523}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7420834302902222},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6001709699630737},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5918458104133606},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5522890686988831},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.4947599768638611},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4628218114376068},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4556167721748352},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.43036335706710815},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4158564805984497},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4104287922382355},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1530078947544098},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11284133791923523},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3058930","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3058930","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9285111/09353203.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:generic.eprints.org:2013","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402181","display_name":"DBIS EPub (University of Ulm)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I196349391","host_organization_name":"Universit\u00e4t Ulm","host_organization_lineage":["https://openalex.org/I196349391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Examination Question"},{"id":"pmh:oai:arXiv.org:2102.01431","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.01431","pdf_url":"https://arxiv.org/pdf/2102.01431","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":"pmh:oai:publications.rwth-aachen.de:816823","is_oa":true,"landing_page_url":"https://publications.rwth-aachen.de/record/816823","pdf_url":"https://publications.rwth-aachen.de/record/816823/files/816823.pdf","source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and automation letters 6(2), 2357-2364 (2021). doi:10.1109/LRA.2021.3058930","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1109/lra.2021.3058930","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3058930","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9285111/09353203.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3127869230.pdf","grobid_xml":"https://content.openalex.org/works/W3127869230.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1503398984","https://openalex.org/W1505721114","https://openalex.org/W1522301498","https://openalex.org/W1965455100","https://openalex.org/W2056877664","https://openalex.org/W2064675550","https://openalex.org/W2097545165","https://openalex.org/W2343381408","https://openalex.org/W2402144811","https://openalex.org/W2557283755","https://openalex.org/W2582443945","https://openalex.org/W2741379897","https://openalex.org/W2765410765","https://openalex.org/W2790329984","https://openalex.org/W2896642734","https://openalex.org/W2905257731","https://openalex.org/W2953384591","https://openalex.org/W2953920792","https://openalex.org/W2963914175","https://openalex.org/W2964121744","https://openalex.org/W2980695382","https://openalex.org/W3010922435","https://openalex.org/W3035101369","https://openalex.org/W3088631381","https://openalex.org/W3118228674","https://openalex.org/W4213308398","https://openalex.org/W6631190155","https://openalex.org/W6713134421","https://openalex.org/W6730267373"],"related_works":["https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W3032952384","https://openalex.org/W3034302643","https://openalex.org/W1847088711","https://openalex.org/W4225394202","https://openalex.org/W3036642985","https://openalex.org/W2964006806","https://openalex.org/W2388648383","https://openalex.org/W2049371295"],"abstract_inverted_index":{"To":[0],"plan":[1],"safe":[2],"and":[3],"comfortable":[4],"trajectories":[5],"for":[6],"automated":[7],"vehicles":[8,78],"on":[9,28,35,79,92],"highways,":[10],"accurate":[11,155],"predictions":[12,131],"of":[13,22,63,76,139],"traffic":[14],"situations":[15],"are":[16],"needed.":[17],"So":[18],"far,":[19],"a":[20,41,64,93,115,136,149],"lot":[21],"research":[23],"effort":[24],"has":[25],"been":[26],"spent":[27],"detecting":[29],"lane":[30,42,74,128],"change":[31,43,75],"maneuvers":[32],"rather":[33],"than":[34,141],"estimating":[36],"the":[37,61,69,72,110,130],"point":[38],"in":[39,109],"time":[40,70],"actually":[44],"happens.":[45],"In":[46,144],"practice,":[47],"however,":[48],"this":[49,146],"temporal":[50],"information":[51],"might":[52],"be":[53],"even":[54,108],"more":[55],"useful.":[56],"This":[57],"letter":[58],"deals":[59],"with":[60,114],"development":[62],"system":[65],"that":[66,99],"accurately":[67],"predicts":[68],"to":[71,104,127],"next":[73],"surrounding":[77],"highways":[80],"using":[81],"long":[82],"short-term":[83],"memory-based":[84],"recurrent":[85],"neural":[86],"networks.":[87],"An":[88],"extensive":[89],"evaluation":[90],"based":[91],"large":[94],"real-world":[95],"data":[96],"set":[97],"shows":[98],"our":[100],"approach":[101],"is":[102],"able":[103],"make":[105],"reliable":[106],"predictions,":[107],"most":[111],"challenging":[112],"situations,":[113],"root":[116],"mean":[117],"squared":[118],"error":[119,138],"around":[120],"0.7":[121],"seconds.":[122,143],"Already":[123],"3.5":[124],"seconds":[125],"prior":[126],"changes":[129],"become":[132],"highly":[133,154],"accurate,":[134],"showing":[135],"median":[137],"less":[140],"0.25":[142],"summary,":[145],"article":[147],"forms":[148],"fundamental":[150],"step":[151],"towards":[152],"downstreamed":[153],"position":[156],"predictions.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-30T09:15:22.047038","created_date":"2021-02-15T00:00:00"}