{"id":"https://openalex.org/W4249848180","doi":"https://doi.org/10.1109/tits.2016.2571726","title":"On-Road Vehicle Trajectory Collection and Scene-Based Lane Change Analysis: Part I","display_name":"On-Road Vehicle Trajectory Collection and Scene-Based Lane Change Analysis: Part I","publication_year":2016,"publication_date":"2016-07-18","ids":{"openalex":"https://openalex.org/W4249848180","doi":"https://doi.org/10.1109/tits.2016.2571726"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2016.2571726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2016.2571726","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060007938","display_name":"Huijing Zhao","orcid":"https://orcid.org/0000-0001-9245-3039"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijing Zhao","raw_affiliation_strings":["Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100407039","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0002-7547-3887"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Wang","raw_affiliation_strings":["Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076210601","display_name":"Yuping Lin","orcid":"https://orcid.org/0000-0001-7635-2238"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuping Lin","raw_affiliation_strings":["Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030400009","display_name":"Franck Guillemard","orcid":null},"institutions":[{"id":"https://openalex.org/I268709337","display_name":"PSA Peugeot Citro\u00ebn (France)","ror":"https://ror.org/04zgvy449","country_code":"FR","type":"company","lineage":["https://openalex.org/I268709337"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Franck Guillemard","raw_affiliation_strings":["PSA Peugeot Citro\u00ebn, Velizy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PSA Peugeot Citro\u00ebn, Velizy, France","institution_ids":["https://openalex.org/I268709337"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068084915","display_name":"St\u00e9phane G\u00e9ronimi","orcid":null},"institutions":[{"id":"https://openalex.org/I268709337","display_name":"PSA Peugeot Citro\u00ebn (France)","ror":"https://ror.org/04zgvy449","country_code":"FR","type":"company","lineage":["https://openalex.org/I268709337"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stephane Geronimi","raw_affiliation_strings":["PSA Peugeot Citro\u00ebn, Velizy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PSA Peugeot Citro\u00ebn, Velizy, France","institution_ids":["https://openalex.org/I268709337"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113835152","display_name":"Fran\u00e7ois Aioun","orcid":null},"institutions":[{"id":"https://openalex.org/I268709337","display_name":"PSA Peugeot Citro\u00ebn (France)","ror":"https://ror.org/04zgvy449","country_code":"FR","type":"company","lineage":["https://openalex.org/I268709337"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Francois Aioun","raw_affiliation_strings":["PSA Peugeot Citro\u00ebn, Velizy, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PSA Peugeot Citro\u00ebn, Velizy, France","institution_ids":["https://openalex.org/I268709337"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.1022,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.96746639,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"18","issue":"1","first_page":"192","last_page":"205"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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":0.9997000098228455,"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":0.983299970626831,"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/T10524","display_name":"Traffic control and management","score":0.9715999960899353,"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":0.7512285113334656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6204915642738342},{"id":"https://openalex.org/keywords/ring-road","display_name":"Ring road","score":0.5860245823860168},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.5411357879638672},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.45897382497787476},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.455222487449646},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.43625378608703613},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4229409992694855},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.41005292534828186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37802600860595703},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3494030833244324},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3439233899116516},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.279798686504364},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.2266017496585846},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11851432919502258},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09668102860450745},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.09281569719314575}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7512285113334656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6204915642738342},{"id":"https://openalex.org/C2778360411","wikidata":"https://www.wikidata.org/wiki/Q510662","display_name":"Ring road","level":2,"score":0.5860245823860168},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.5411357879638672},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.45897382497787476},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.455222487449646},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.43625378608703613},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4229409992694855},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.41005292534828186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37802600860595703},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3494030833244324},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3439233899116516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.279798686504364},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.2266017496585846},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11851432919502258},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09668102860450745},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.09281569719314575},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2016.2571726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2016.2571726","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2908900390","display_name":null,"funder_award_id":"61573027","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":45,"referenced_works":["https://openalex.org/W206388996","https://openalex.org/W430615283","https://openalex.org/W1506966928","https://openalex.org/W1556788795","https://openalex.org/W1586173270","https://openalex.org/W1600502249","https://openalex.org/W1753398997","https://openalex.org/W1964232317","https://openalex.org/W1967852938","https://openalex.org/W1972997465","https://openalex.org/W1985403019","https://openalex.org/W1986237681","https://openalex.org/W1994114209","https://openalex.org/W1994886837","https://openalex.org/W1997100885","https://openalex.org/W2012849708","https://openalex.org/W2023749312","https://openalex.org/W2024003772","https://openalex.org/W2027452306","https://openalex.org/W2030713743","https://openalex.org/W2031031248","https://openalex.org/W2045487859","https://openalex.org/W2047328415","https://openalex.org/W2050803817","https://openalex.org/W2078183545","https://openalex.org/W2107656445","https://openalex.org/W2110493503","https://openalex.org/W2123838017","https://openalex.org/W2126011766","https://openalex.org/W2130213433","https://openalex.org/W2132791221","https://openalex.org/W2133009434","https://openalex.org/W2136767008","https://openalex.org/W2138273245","https://openalex.org/W2153646988","https://openalex.org/W2165065922","https://openalex.org/W2168292091","https://openalex.org/W2170003873","https://openalex.org/W2295623328","https://openalex.org/W2463579195","https://openalex.org/W6608407660","https://openalex.org/W6633389990","https://openalex.org/W6634982934","https://openalex.org/W6658345034","https://openalex.org/W6682408898"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W2956374172","https://openalex.org/W1964041166","https://openalex.org/W2794103424","https://openalex.org/W4210818033","https://openalex.org/W2357101623"],"abstract_inverted_index":{"This":[0,81],"two-part":[1],"paper":[2,82],"aims":[3],"to":[4,71,132,194,217,227],"study":[5,68],"lane":[6,44],"change":[7,45],"behaviors":[8],"at":[9,162,251],"the":[10,23,32,53,73,112,163,202,206,211,252],"tactical":[11,65],"level":[12],"from":[13,52,240],"an":[14,26,92,241],"on-road":[15,87,160,224,242],"perspective,":[16],"with":[17,97,176,182],"a":[18,84,119,123,153,170,183,233],"special":[19],"focus":[20],"on":[21,118],"analyzing":[22],"interactions":[24,247],"between":[25],"ego":[27],"and":[28,47,60,79,128,140,152,226],"surrounding":[29],"vehicles":[30],"during":[31,223],"procedure.":[33],"Part":[34,41],"I":[35],"addresses":[36,43,245],"vehicle":[37,88,94,120,221,246],"trajectory":[38,62,89,155,253],"collection,":[39,90],"whereas":[40],"II":[42],"extraction":[46],"scene-based":[48],"behavioral":[49],"analysis.":[50],"Different":[51],"general":[54],"technique":[55],"of":[56,75,86,115,126,137,173,186,196,201],"moving":[57],"object":[58],"detection":[59],"tracking,":[61],"collection":[63],"for":[64,169,236],"driving":[66,161,225,237],"behavior":[67,238],"is":[69,95,108,149,157,192,210,215],"required":[70,203],"have":[72,103],"properties":[74],"consistency,":[76],"completeness,":[77],"continuity,":[78],"accuracy.":[80],"proposes":[83],"system":[85,213],"where":[91],"instrumented":[93],"developed":[96,109,158],"multiple":[98],"horizontal":[99],"2-D":[100],"lidars":[101,117],"that":[102,214,244],"360\u00b0":[104],"coverage.":[105],"The":[106,147,190],"software":[107],"by":[110],"fitting":[111],"laser":[113],"points":[114],"all":[116],"model":[121],"using":[122],"coupled":[124],"estimation":[125],"features":[127],"reliability":[129],"along":[130],"frames":[131],"achieve":[133],"accurate":[134],"state":[135],"estimations":[136],"occluded":[138],"data":[139,142],"robust":[141],"association":[143],"in":[144,167,199,231,248],"multiviewpoint":[145],"sensing.":[146],"performance":[148,191,230],"investigated":[150],"extensively,":[151],"large":[154],"set":[156],"through":[159],"Fourth":[164],"Ring":[165],"Road":[166],"Beijing":[168],"total":[171,184],"distance":[172],"64":[174],"km,":[175],"more":[177],"than":[178],"5700":[179],"environmental":[180],"trajectories":[181,222],"length":[185],"over":[187],"19":[188],"h.":[189],"demonstrated":[193],"be":[195],"high":[197],"quality":[198],"terms":[200],"properties.":[204],"To":[205],"authors'":[207],"knowledge,":[208],"this":[209],"first":[212],"able":[216],"automatically":[218],"collect":[219],"all-around":[220],"demonstrate":[228],"good":[229],"providing":[232],"high-quality":[234],"database":[235],"studies":[239],"perspective":[243],"real-world":[249],"traffic":[250],"level.":[254]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}