{"id":"https://openalex.org/W2032924574","doi":"https://doi.org/10.1109/mits.2014.2306552","title":"Making Bertha Drive\u2014An Autonomous Journey on a Historic Route","display_name":"Making Bertha Drive\u2014An Autonomous Journey on a Historic Route","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2032924574","doi":"https://doi.org/10.1109/mits.2014.2306552","mag":"2032924574"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2014.2306552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2014.2306552","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","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/A5020638741","display_name":"Julius Ziegler","orcid":null},"institutions":[{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Julius Ziegler","raw_affiliation_strings":["Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","[Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"[Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany]","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027164541","display_name":"Philipp Bender","orcid":"https://orcid.org/0000-0002-2492-3956"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Philipp Bender","raw_affiliation_strings":["Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","[Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"[Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany]","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104946281","display_name":"Markus Schreiber","orcid":"https://orcid.org/0009-0008-4485-4792"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I29955533","display_name":"Center for Information Technology","ror":"https://ror.org/03jh5a977","country_code":"US","type":"facility","lineage":["https://openalex.org/I1299022934","https://openalex.org/I1299303238","https://openalex.org/I29955533"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Markus Schreiber","raw_affiliation_strings":["Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","[Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"[Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany]","institution_ids":["https://openalex.org/I29955533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037121223","display_name":"Henning Lategahn","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Henning Lategahn","raw_affiliation_strings":["Department of Measurement and Control Systems, Karlsruhe Institute of Technology, Germany","Dept. of Meas. & Control Syst., Karlsruhe Inst. of Technol., Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Measurement and Control Systems, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Dept. of Meas. & Control Syst., Karlsruhe Inst. of Technol., Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043111484","display_name":"Tobias Strau\u00df","orcid":"https://orcid.org/0000-0002-5344-4188"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Strauss","raw_affiliation_strings":["Department of Measurement and Control Systems, Karlsruhe Institute of Technology, Germany","Dept. of Meas. & Control Syst., Karlsruhe Inst. of Technol., Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Measurement and Control Systems, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Dept. of Meas. & Control Syst., Karlsruhe Inst. of Technol., Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Department of Measurement and Control Systems, Karlsruhe Institute of Technology, Germany","Dept. of Meas. & Control Syst., Karlsruhe Inst. of Technol., Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Measurement and Control Systems, Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Dept. of Meas. & Control Syst., Karlsruhe Inst. of Technol., Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101717722","display_name":"Thao Dang","orcid":"https://orcid.org/0000-0002-7629-3853"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thao Dang","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109566845","display_name":"Uwe Franke","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Uwe Franke","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001179073","display_name":"Nils Appenrodt","orcid":"https://orcid.org/0000-0002-1053-9136"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nils Appenrodt","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013875392","display_name":"Christoph G. Keller","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph G. Keller","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044508224","display_name":"Eberhard Kaus","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eberhard Kaus","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010002645","display_name":"Ralf Guido Herrtwich","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ralf G. Herrtwich","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032746803","display_name":"Clemens Rabe","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Clemens Rabe","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083407909","display_name":"David Pfeiffer","orcid":"https://orcid.org/0000-0001-8406-8595"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Pfeiffer","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091472881","display_name":"Frank Lindner","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Lindner","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108523445","display_name":"Fridtjof Stein","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fridtjof Stein","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005457699","display_name":"Friedrich Erbs","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Friedrich Erbs","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040116973","display_name":"Markus Enzweiler","orcid":"https://orcid.org/0000-0001-9211-9882"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Enzweiler","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011195108","display_name":"Carsten Kn\u00f6ppel","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Carsten Knoppel","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049480184","display_name":"Jochen Hipp","orcid":"https://orcid.org/0000-0002-9037-9899"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen Hipp","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019996910","display_name":"Martin Haueis","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Haueis","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084774397","display_name":"Maximilian Trepte","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Trepte","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042010722","display_name":"Carsten Brenk","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Carsten Brenk","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057181669","display_name":"Andreas Tamke","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Tamke","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072257737","display_name":"Mohammad Ghanaat","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohammad Ghanaat","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001459580","display_name":"Markus Braun","orcid":"https://orcid.org/0000-0003-1439-850X"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Braun","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110266004","display_name":"A. Joos","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Armin Joos","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085483921","display_name":"Hans Fritz","orcid":"https://orcid.org/0009-0008-1465-8141"},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hans Fritz","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004975672","display_name":"Horst Mock","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Horst Mock","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005313080","display_name":"Martin Hein","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Hein","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079299166","display_name":"E. Zeeb","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eberhard Zeeb","raw_affiliation_strings":["Daimler AG, Research & Development, Sindelfingen, Germany","R&D, Daimler AG, Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Daimler AG, Research & Development, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]},{"raw_affiliation_string":"R&D, Daimler AG, Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":31,"corresponding_author_ids":["https://openalex.org/A5020638741"],"corresponding_institution_ids":["https://openalex.org/I143379178","https://openalex.org/I29955533"],"apc_list":null,"apc_paid":null,"fwci":81.1069,"has_fulltext":false,"cited_by_count":845,"citation_normalized_percentile":{"value":0.99984806,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"8","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"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":0.9993000030517578,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/downtown","display_name":"Downtown","score":0.7642942667007446},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.628655195236206},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5825733542442322},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5203765630722046},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.5044583082199097},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.47780710458755493},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37766125798225403},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3334105908870697},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.32036060094833374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2907811999320984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25901472568511963},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2389301359653473},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.13046759366989136},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0898594856262207}],"concepts":[{"id":"https://openalex.org/C2776556313","wikidata":"https://www.wikidata.org/wiki/Q1050303","display_name":"Downtown","level":2,"score":0.7642942667007446},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.628655195236206},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5825733542442322},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5203765630722046},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.5044583082199097},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.47780710458755493},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37766125798225403},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3334105908870697},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.32036060094833374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2907811999320984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25901472568511963},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2389301359653473},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.13046759366989136},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0898594856262207}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mits.2014.2306552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2014.2306552","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.640.1737","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.640.1737","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.mrt.kit.edu/z/publ/download/2014/ZieglerAl2013ITSMag.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1464106189","https://openalex.org/W1557515246","https://openalex.org/W1589504938","https://openalex.org/W1970329928","https://openalex.org/W1988126250","https://openalex.org/W2003844821","https://openalex.org/W2004815408","https://openalex.org/W2025991977","https://openalex.org/W2026197844","https://openalex.org/W2029841124","https://openalex.org/W2034430035","https://openalex.org/W2055207897","https://openalex.org/W2060061906","https://openalex.org/W2085040442","https://openalex.org/W2088592095","https://openalex.org/W2095945798","https://openalex.org/W2099529102","https://openalex.org/W2100249790","https://openalex.org/W2101938307","https://openalex.org/W2107656445","https://openalex.org/W2113137767","https://openalex.org/W2114281890","https://openalex.org/W2121806728","https://openalex.org/W2125536983","https://openalex.org/W2127420331","https://openalex.org/W2135457387","https://openalex.org/W2142079327","https://openalex.org/W2145142957","https://openalex.org/W2146511219","https://openalex.org/W2154844948","https://openalex.org/W2155732138","https://openalex.org/W2161337244","https://openalex.org/W2161969291","https://openalex.org/W2162846286","https://openalex.org/W2165114467","https://openalex.org/W2406067508","https://openalex.org/W2760981468","https://openalex.org/W3212743282","https://openalex.org/W4206713226","https://openalex.org/W4301014524","https://openalex.org/W6633617711","https://openalex.org/W6635014653","https://openalex.org/W6651227407","https://openalex.org/W6656962146","https://openalex.org/W6671457169","https://openalex.org/W6881554575"],"related_works":["https://openalex.org/W4205268161","https://openalex.org/W2185134528","https://openalex.org/W2891070750","https://openalex.org/W1861932442","https://openalex.org/W2047022258","https://openalex.org/W1880567472","https://openalex.org/W1606048439","https://openalex.org/W2465912761","https://openalex.org/W1572253134","https://openalex.org/W2043461097"],"abstract_inverted_index":{"Abstract-125":[0],"years":[1],"after":[2],"Bertha":[3,68],"Benz":[4,15,69],"completed":[5],"the":[6,13,22,82,136],"first":[7],"overland":[8],"journey":[9],"in":[10,30,51,158],"automotive":[11],"history,":[12],"Mercedes":[14],"S-Class":[16],"S":[17],"500":[18],"INTELLIGENT":[19],"DRIVE":[20],"followed":[21],"same":[23],"route":[24,107],"from":[25],"Mannheim":[26,103],"to":[27,57],"Pforzheim,":[28],"Germany,":[29],"fully":[31],"autonomous":[32,35,76,83,137],"manner.":[33],"The":[34,66,78,106],"vehicle":[36,84,138],"was":[37],"equipped":[38],"with":[39,53,118,127],"close-to-production":[40],"sensor":[41],"hardware":[42],"and":[43,48,91,98,104,119,124,139,144,150],"relied":[44],"solely":[45],"on":[46,142],"vision":[47,143],"radar":[49],"sensors":[50],"combination":[52],"accurate":[54],"digital":[55,147],"maps":[56,149],"obtain":[58],"a":[59,86,109],"comprehensive":[60],"understanding":[61],"of":[62,88,112,135],"complex":[63,159],"traffic":[64,114,121],"situations.":[65],"historic":[67],"Memorial":[70],"Route":[71],"is":[72],"particularly":[73],"challenging":[74],"for":[75],"driving.":[77],"course":[79],"taken":[80],"by":[81],"had":[85],"length":[87],"103":[89],"km":[90],"covered":[92],"rural":[93],"roads,":[94],"23":[95],"small":[96],"villages":[97],"major":[99],"cities":[100],"(e.g.":[101],"downtown":[102],"Heidelberg).":[105],"posed":[108],"large":[110],"variety":[111],"difficult":[113],"scenarios":[115],"including":[116],"intersections":[117],"without":[120],"lights,":[122],"roundabouts,":[123],"narrow":[125],"passages":[126],"oncoming":[128],"traffic.":[129],"This":[130],"paper":[131],"gives":[132],"an":[133],"overview":[134],"presents":[140],"details":[141],"radar-based":[145],"perception,":[146],"road":[148],"video-based":[151],"self-localization,":[152],"as":[153,155],"well":[154],"motion":[156],"planning":[157],"urban":[160],"scenarios.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":49},{"year":2023,"cited_by_count":52},{"year":2022,"cited_by_count":70},{"year":2021,"cited_by_count":91},{"year":2020,"cited_by_count":115},{"year":2019,"cited_by_count":98},{"year":2018,"cited_by_count":98},{"year":2017,"cited_by_count":71},{"year":2016,"cited_by_count":76},{"year":2015,"cited_by_count":64},{"year":2014,"cited_by_count":8}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}
