{"id":"https://openalex.org/W4403059088","doi":"https://doi.org/10.1109/lra.2024.3471448","title":"<b>R</b>isk-<b>A</b>ware <b>N</b>et: An Explicit Collision-Constrained Framework for Enhanced Safety Autonomous Driving","display_name":"<b>R</b>isk-<b>A</b>ware <b>N</b>et: An Explicit Collision-Constrained Framework for Enhanced Safety Autonomous Driving","publication_year":2024,"publication_date":"2024-10-02","ids":{"openalex":"https://openalex.org/W4403059088","doi":"https://doi.org/10.1109/lra.2024.3471448"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3471448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3471448","pdf_url":null,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","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/A5101505654","display_name":"Zihan Yu","orcid":"https://orcid.org/0000-0003-2670-4252"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zihan Yu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058410192","display_name":"Meixin Zhu","orcid":"https://orcid.org/0000-0003-3291-3616"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Meixin Zhu","raw_affiliation_strings":["Systems Hub, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Systems Hub, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100730785","display_name":"Xiaowen Chu","orcid":"https://orcid.org/0000-0001-9745-4372"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaowen Chu","raw_affiliation_strings":["Information Hub, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Information Hub, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101505654"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.2165,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.5099751,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"9","issue":"11","first_page":"10597","last_page":"10604"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.998199999332428,"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":0.998199999332428,"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":0.9932000041007996,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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","display_name":"Collision","score":0.5848279595375061},{"id":"https://openalex.org/keywords/b-method","display_name":"B-Method","score":0.542360782623291},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3794441819190979},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.17400813102722168},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.17120620608329773},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.055970728397369385}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5848279595375061},{"id":"https://openalex.org/C192698709","wikidata":"https://www.wikidata.org/wiki/Q3085774","display_name":"B-Method","level":3,"score":0.542360782623291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3794441819190979},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.17400813102722168},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.17120620608329773},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.055970728397369385}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3471448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3471448","pdf_url":null,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-144854","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-144854","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3635629119","display_name":null,"funder_award_id":"52302379","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1977801775","https://openalex.org/W2890235476","https://openalex.org/W2912445127","https://openalex.org/W2963165400","https://openalex.org/W2963214840","https://openalex.org/W2963215357","https://openalex.org/W2990762375","https://openalex.org/W3015470607","https://openalex.org/W3034722190","https://openalex.org/W3132685867","https://openalex.org/W4285813121","https://openalex.org/W4312416570","https://openalex.org/W4312745495","https://openalex.org/W4313049632","https://openalex.org/W4315472357","https://openalex.org/W4365807717","https://openalex.org/W4382936452","https://openalex.org/W4383108357","https://openalex.org/W4385430563","https://openalex.org/W4388692119","https://openalex.org/W4389076529","https://openalex.org/W4391555919","https://openalex.org/W6755946096","https://openalex.org/W6780503301","https://openalex.org/W6782468546","https://openalex.org/W6801415009","https://openalex.org/W6861232625"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W3113932901","https://openalex.org/W4396701345","https://openalex.org/W650625605","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Motion":[0],"planning":[1,17],"is":[2],"a":[3,60,73,88,135],"vital":[4],"part":[5],"of":[6,13,48],"autonomous":[7,14],"driving.":[8],"To":[9,81,144],"ensure":[10],"the":[11,34,49,68,93,113,116,121,132,140,155],"safety":[12],"vehicles,":[15],"motion":[16],"algorithms":[18],"need":[19],"to":[20,63,76,138],"precisely":[21],"model":[22,82],"potential":[23,83],"collision":[24,84,171],"risks":[25],"and":[26,52,95,150,173],"execute":[27],"essential":[28],"driving":[29,36,50,110],"maneuvers.":[30],"Drawing":[31],"inspiration":[32],"from":[33],"human":[35],"process,":[37],"which":[38],"involves":[39],"making":[40],"preliminary":[41],"decisions":[42],"based":[43],"on":[44],"an":[45,78,124],"initial":[46,79],"assessment":[47],"scenario":[51],"subsequently":[53],"generating":[54],"refined":[55],"trajectories,":[56],"this":[57,65],"study":[58],"presents":[59],"two-step":[61],"framework":[62],"replicate":[64],"process.":[66],"In":[67,115],"first":[69],"step,":[70,118],"we":[71,86,108,119,148],"use":[72],"learning-based":[74],"network":[75],"create":[77,139],"plan.":[80,114],"risks,":[85],"introduce":[87],"corridor-based":[89],"constraint":[90],"that":[91,162],"considers":[92],"environment":[94],"trajectory":[96,133],"information.":[97],"By":[98],"combining":[99],"imitation":[100],"loss":[101,104],"with":[102],"corridor-constrained":[103],"through":[105],"supervised":[106],"learning,":[107],"incorporate":[109],"heuristics":[111],"into":[112],"second":[117],"refine":[120],"plan":[122],"using":[123,154],"optimization-based":[125],"pose":[126],"refinement":[127],"module.":[128],"This":[129],"module":[130],"optimizes":[131],"at":[134],"point":[136],"level":[137],"final,":[141],"improved":[142],"path.":[143],"validate":[145],"our":[146,152,163],"approach,":[147],"trained":[149],"evaluated":[151],"methodology":[153],"large-scale":[156],"Lyft":[157],"dataset.":[158],"The":[159],"results":[160],"show":[161],"method":[164],"outperforms":[165],"other":[166],"baseline":[167],"approaches":[168],"by":[169],"reducing":[170],"rates":[172],"discomfort":[174],"rates.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}