{"id":"https://openalex.org/W2104806250","doi":"https://doi.org/10.1109/tits.2008.2011691","title":"IMM-Based Lane-Change Prediction in Highways With Low-Cost GPS/INS","display_name":"IMM-Based Lane-Change Prediction in Highways With Low-Cost GPS/INS","publication_year":2009,"publication_date":"2009-02-09","ids":{"openalex":"https://openalex.org/W2104806250","doi":"https://doi.org/10.1109/tits.2008.2011691","mag":"2104806250"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2008.2011691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2008.2011691","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10317/892","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032234559","display_name":"R. Toledo-Moreo","orcid":"https://orcid.org/0000-0002-2997-4859"},"institutions":[{"id":"https://openalex.org/I153390918","display_name":"University of Cartagena","ror":"https://ror.org/0409zd934","country_code":"CO","type":"education","lineage":["https://openalex.org/I153390918"]},{"id":"https://openalex.org/I3123212020","display_name":"Universidad Polit\u00e9cnica de Cartagena","ror":"https://ror.org/02k5kx966","country_code":"ES","type":"education","lineage":["https://openalex.org/I3123212020"]}],"countries":["CO","ES"],"is_corresponding":true,"raw_author_name":"R. Toledo-Moreo","raw_affiliation_strings":["Department of Electronics and Computer Technology, Technical University Cartagena, Cartagena, Spain","Dept. of Electron. & Comput. Technol., Tech. Univ. of Cartagena, Cartagena"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Technology, Technical University Cartagena, Cartagena, Spain","institution_ids":["https://openalex.org/I3123212020"]},{"raw_affiliation_string":"Dept. of Electron. & Comput. Technol., Tech. Univ. of Cartagena, Cartagena","institution_ids":["https://openalex.org/I153390918"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102734100","display_name":"Miguel A. Zamora","orcid":"https://orcid.org/0000-0002-0130-2364"},"institutions":[{"id":"https://openalex.org/I80180929","display_name":"Universidad de Murcia","ror":"https://ror.org/03p3aeb86","country_code":"ES","type":"education","lineage":["https://openalex.org/I80180929"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"M.A. Zamora-Izquierdo","raw_affiliation_strings":["Department of Information and Communication Engineering, University of Murcia, Murcia, Spain","Dept. of Inf. & Commun. Eng., Univ. of Murcia, Murcia"],"affiliations":[{"raw_affiliation_string":"Department of Information and Communication Engineering, University of Murcia, Murcia, Spain","institution_ids":["https://openalex.org/I80180929"]},{"raw_affiliation_string":"Dept. of Inf. & Commun. Eng., Univ. of Murcia, Murcia","institution_ids":["https://openalex.org/I80180929"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5032234559"],"corresponding_institution_ids":["https://openalex.org/I153390918","https://openalex.org/I3123212020"],"apc_list":null,"apc_paid":null,"fwci":13.7375,"has_fulltext":false,"cited_by_count":134,"citation_normalized_percentile":{"value":0.9882334,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"10","issue":"1","first_page":"180","last_page":"185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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":0.9994999766349792,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/global-positioning-system","display_name":"Global Positioning System","score":0.8286545276641846},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7942752838134766},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7617896795272827},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6902369856834412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48618048429489136},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.44361573457717896},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43848252296447754},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4324057996273041},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4287000298500061},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3586750626564026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34048157930374146},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32313644886016846},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.133571058511734},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1261037290096283},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10688036680221558},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0954023003578186},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07461997866630554}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.8286545276641846},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7942752838134766},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7617896795272827},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6902369856834412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48618048429489136},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.44361573457717896},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43848252296447754},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4324057996273041},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4287000298500061},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3586750626564026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34048157930374146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32313644886016846},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.133571058511734},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1261037290096283},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10688036680221558},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0954023003578186},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07461997866630554}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tits.2008.2011691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2008.2011691","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:hispana.mcu.es:4287805","is_oa":false,"landing_page_url":"https://hispana.mcu.es/es/registros/registro.do?tipoRegistro=MTD&idBib=4287805","pdf_url":null,"source":{"id":"https://openalex.org/S4377196108","display_name":"Hispana","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Art\u00edculo"},{"id":"pmh:oai:hispana.mcu.es:6492398","is_oa":false,"landing_page_url":"https://hispana.mcu.es/es/registros/registro.do?tipoRegistro=MTD&idBib=6492398","pdf_url":null,"source":{"id":"https://openalex.org/S4377196108","display_name":"Hispana","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:repositorio.upct.es:10317/892","is_oa":true,"landing_page_url":"http://hdl.handle.net/10317/892","pdf_url":null,"source":{"id":"https://openalex.org/S4377196514","display_name":"Digital Repository (Universidad Polit\u00e9cnica de Cartagena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I3123212020","host_organization_name":"Universidad Polit\u00e9cnica de Cartagena","host_organization_lineage":["https://openalex.org/I3123212020"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:repositorio.upct.es:10317/892","is_oa":true,"landing_page_url":"http://hdl.handle.net/10317/892","pdf_url":null,"source":{"id":"https://openalex.org/S4377196514","display_name":"Digital Repository (Universidad Polit\u00e9cnica de Cartagena)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I3123212020","host_organization_name":"Universidad Polit\u00e9cnica de Cartagena","host_organization_lineage":["https://openalex.org/I3123212020"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322805","display_name":"Universidad de Murcia","ror":"https://ror.org/03p3aeb86"},{"id":"https://openalex.org/F4320325098","display_name":"Ministerio de Fomento","ror":"https://ror.org/00qx4he92"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1541396977","https://openalex.org/W1568122762","https://openalex.org/W1600118579","https://openalex.org/W1998632295","https://openalex.org/W2008791833","https://openalex.org/W2018615231","https://openalex.org/W2066634121","https://openalex.org/W2084980761","https://openalex.org/W2097009900","https://openalex.org/W2097647586","https://openalex.org/W2103832158","https://openalex.org/W2110170799","https://openalex.org/W2111969977","https://openalex.org/W2114233248","https://openalex.org/W2118164523","https://openalex.org/W2121098000","https://openalex.org/W2121550293","https://openalex.org/W2129078811","https://openalex.org/W2132432370","https://openalex.org/W2144357069","https://openalex.org/W2153957684","https://openalex.org/W2158316886","https://openalex.org/W2160507085","https://openalex.org/W2161977181","https://openalex.org/W6652398615","https://openalex.org/W6683433038"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2123881033","https://openalex.org/W4309137623","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4205117881","https://openalex.org/W4312092966","https://openalex.org/W2951795132","https://openalex.org/W3153542184"],"abstract_inverted_index":{"The":[0,33,78],"prediction":[1],"of":[2,37,40,107,119],"lane":[3,29,124],"changes":[4,30,125],"has":[5],"been":[6,101],"proven":[7],"to":[8,75,103,122],"be":[9],"useful":[10],"for":[11,27,53],"collision":[12],"avoidance":[13],"support":[14],"in":[15,31,62,113,126],"road":[16,130],"vehicles.":[17],"This":[18],"paper":[19],"proposes":[20],"an":[21,50,67],"interactive":[22],"multiple":[23],"model":[24,98],"(IMM)-based":[25],"method":[26],"predicting":[28],"highways.":[32],"sensor":[34],"unit":[35,46],"consists":[36],"a":[38],"set":[39],"low-cost":[41],"Global":[42],"Positioning":[43],"System/inertial":[44],"measurement":[45],"(GPS/IMU)":[47],"sensors":[48],"and":[49,64,72,84,128],"odometry":[51],"captor":[52],"collecting":[54],"velocity":[55],"measurements.":[56],"Extended":[57],"Kalman":[58],"filters":[59],"(EKFs)":[60],"running":[61],"parallel":[63],"integrated":[65],"by":[66,90],"IMM-based":[68,109],"algorithm":[69],"provide":[70],"positioning":[71],"maneuver":[73,79],"predictions":[74],"the":[76,105,108,117,120],"user.":[77],"states":[80],"Change":[81],"Lane":[82,86],"(CL)":[83],"Keep":[85],"(KL)":[87],"are":[88],"defined":[89],"two":[91],"models":[92],"that":[93],"describe":[94],"different":[95],"dynamics.":[96],"Different":[97],"sets":[99],"have":[100],"studied":[102],"meet":[104],"needs":[106],"algorithm.":[110],"Real":[111],"trials":[112],"highway":[114],"scenarios":[115],"show":[116],"capability":[118],"system":[121],"predict":[123],"straight":[127],"curved":[129],"stretches":[131],"with":[132],"very":[133],"short":[134],"latency":[135],"times.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":7}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}
