{"id":"https://openalex.org/W2106993639","doi":"https://doi.org/10.1109/tits.2009.2018966","title":"Model-Based Probabilistic Collision Detection in Autonomous Driving","display_name":"Model-Based Probabilistic Collision Detection in Autonomous Driving","publication_year":2009,"publication_date":"2009-04-28","ids":{"openalex":"https://openalex.org/W2106993639","doi":"https://doi.org/10.1109/tits.2009.2018966","mag":"2106993639"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2009.2018966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2009.2018966","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":"https://mediatum.ub.tum.de/1289124","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"M. Althoff","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Inst. of Autom. Control Eng. (LSR), Tech. Univ. Munchen, Munich"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Inst. of Autom. Control Eng. (LSR), Tech. Univ. Munchen, Munich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040756775","display_name":"Olaf Stursberg","orcid":"https://orcid.org/0000-0002-9600-457X"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"O. Stursberg","raw_affiliation_strings":["Institute of Control and System Theory, University of Kassel, Kassel, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control and System Theory, University of Kassel, Kassel, Germany","institution_ids":["https://openalex.org/I106157433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Buss","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Inst. of Autom. Control Eng. (LSR), Tech. Univ. Munchen, Munich"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Inst. of Autom. Control Eng. (LSR), Tech. Univ. Munchen, Munich","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005383495"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":17.7818,"has_fulltext":false,"cited_by_count":298,"citation_normalized_percentile":{"value":0.99333012,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"10","issue":"2","first_page":"299","last_page":"310"},"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/T11195","display_name":"Simulation Techniques and Applications","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9900000095367432,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7107396721839905},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6932650804519653},{"id":"https://openalex.org/keywords/crash","display_name":"Crash","score":0.6377381086349487},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5386834144592285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5084487199783325},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4919876754283905},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48510897159576416},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4808688759803772},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44740134477615356},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36762404441833496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33534151315689087},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.266937255859375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24045082926750183},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17888402938842773},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1001298725605011}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7107396721839905},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6932650804519653},{"id":"https://openalex.org/C183469790","wikidata":"https://www.wikidata.org/wiki/Q333501","display_name":"Crash","level":2,"score":0.6377381086349487},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5386834144592285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5084487199783325},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4919876754283905},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48510897159576416},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4808688759803772},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44740134477615356},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36762404441833496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33534151315689087},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.266937255859375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24045082926750183},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17888402938842773},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1001298725605011},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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":3,"locations":[{"id":"doi:10.1109/tits.2009.2018966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2009.2018966","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:mediatum.ub.tum.de:node/1289124","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1289124","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/979690","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/979690","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1289124","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1289124","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W653991662","https://openalex.org/W1255213109","https://openalex.org/W1518922396","https://openalex.org/W1525967073","https://openalex.org/W1574709890","https://openalex.org/W1598511836","https://openalex.org/W1895907936","https://openalex.org/W2061432680","https://openalex.org/W2076381545","https://openalex.org/W2088271437","https://openalex.org/W2096903036","https://openalex.org/W2097679359","https://openalex.org/W2098494451","https://openalex.org/W2099698956","https://openalex.org/W2100291021","https://openalex.org/W2101545882","https://openalex.org/W2108250446","https://openalex.org/W2110910849","https://openalex.org/W2113922565","https://openalex.org/W2122075562","https://openalex.org/W2122773086","https://openalex.org/W2123427425","https://openalex.org/W2123665586","https://openalex.org/W2123951162","https://openalex.org/W2124489106","https://openalex.org/W2135128809","https://openalex.org/W2137912234","https://openalex.org/W2143071398","https://openalex.org/W2145129279","https://openalex.org/W2149500945","https://openalex.org/W2158451642","https://openalex.org/W2159900645","https://openalex.org/W2161721480","https://openalex.org/W2163487198","https://openalex.org/W4233863062","https://openalex.org/W6630987368","https://openalex.org/W6674543041","https://openalex.org/W6676358908","https://openalex.org/W6676699685","https://openalex.org/W6678456869","https://openalex.org/W6683870185"],"related_works":["https://openalex.org/W626940945","https://openalex.org/W375763875","https://openalex.org/W2040826996","https://openalex.org/W120748129","https://openalex.org/W2060907096","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3042530408","https://openalex.org/W2120267624","https://openalex.org/W2145006118"],"abstract_inverted_index":{"The":[0,32,70,90],"safety":[1],"of":[2,6,14,24,44,52,60,72,79,86,97],"the":[3,12,21,25,38,41,50,58,65,73,77,87,98],"planned":[4],"paths":[5],"autonomous":[7,88],"cars":[8],"with":[9],"respect":[10],"to":[11,64],"movement":[13],"other":[15,28,45],"traffic":[16,46,53],"participants":[17],"is":[18,30,68,76,93],"considered.":[19,69],"Therefore,":[20],"stochastic":[22],"occupancy":[23],"road":[26,66],"by":[27],"vehicles":[29],"predicted.":[31],"prediction":[33],"considers":[34],"uncertainties":[35],"originating":[36],"from":[37],"measurements":[39],"and":[40],"possible":[42],"behaviors":[43],"participants.":[47],"In":[48],"addition,":[49],"interaction":[51],"participants,":[54],"as":[55,57,95],"well":[56],"limitation":[59],"driving":[61],"maneuvers":[62],"due":[63],"geometry,":[67],"result":[71],"presented":[74,91],"approach":[75,92],"probability":[78],"a":[80,83,107],"crash":[81],"for":[82,111],"specific":[84],"trajectory":[85],"car.":[89],"efficient":[94],"most":[96],"intensive":[99],"computations":[100],"are":[101],"performed":[102],"offline,":[103],"which":[104],"results":[105],"in":[106],"lean":[108],"online":[109],"algorithm":[110],"real-time":[112],"application.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":29},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":37},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":22},{"year":2017,"cited_by_count":25},{"year":2016,"cited_by_count":18},{"year":2015,"cited_by_count":24},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":11}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
