{"id":"https://openalex.org/W2980695382","doi":"https://doi.org/10.1109/tits.2020.3002070","title":"Teaching Vehicles to Anticipate: A Systematic Study on Probabilistic Behavior Prediction Using Large Data Sets","display_name":"Teaching Vehicles to Anticipate: A Systematic Study on Probabilistic Behavior Prediction Using Large Data Sets","publication_year":2020,"publication_date":"2020-06-25","ids":{"openalex":"https://openalex.org/W2980695382","doi":"https://doi.org/10.1109/tits.2020.3002070","mag":"2980695382"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2020.3002070","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tits.2020.3002070","pdf_url":"https://ieeexplore.ieee.org/ielx7/6979/9599518/09126120.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/6979/9599518/09126120.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072658828","display_name":"Florian Wirthm\u00fcller","orcid":"https://orcid.org/0000-0002-9732-2561"},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]},{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Florian Wirthmuller","raw_affiliation_strings":["Institute of Databases and Information Systems (DBIS), Ulm University, Ulm, Germany","Mercedes-Benz AG Research and Development, B\u00f6blingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9732-2561","affiliations":[{"raw_affiliation_string":"Institute of Databases and Information Systems (DBIS), Ulm University, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]},{"raw_affiliation_string":"Mercedes-Benz AG Research and Development, B\u00f6blingen, Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035552570","display_name":"Julian Schlechtriemen","orcid":"https://orcid.org/0000-0002-9130-061X"},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]},{"id":"https://openalex.org/I206895457","display_name":"University of Siegen","ror":"https://ror.org/02azyry73","country_code":"DE","type":"education","lineage":["https://openalex.org/I206895457"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Schlechtriemen","raw_affiliation_strings":["Institute of Realtime Learning Systems, University of Siegen, Siegen, Germany","Mercedes-Benz AG Research and Development, B\u00f6blingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9130-061X","affiliations":[{"raw_affiliation_string":"Institute of Realtime Learning Systems, University of Siegen, Siegen, Germany","institution_ids":["https://openalex.org/I206895457"]},{"raw_affiliation_string":"Mercedes-Benz AG Research and Development, B\u00f6blingen, Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049480184","display_name":"Jochen Hipp","orcid":null},"institutions":[{"id":"https://openalex.org/I1332474105","display_name":"Mercedes-Benz (Germany)","ror":"https://ror.org/055rn2a38","country_code":"DE","type":"company","lineage":["https://openalex.org/I1332474105"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen Hipp","raw_affiliation_strings":["Mercedes-Benz AG Research and Development, B\u00f6blingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9037-9899","affiliations":[{"raw_affiliation_string":"Mercedes-Benz AG Research and Development, B\u00f6blingen, Germany","institution_ids":["https://openalex.org/I1332474105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075861532","display_name":"Manfred Reichert","orcid":"https://orcid.org/0000-0003-2536-4153"},"institutions":[{"id":"https://openalex.org/I196349391","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02","country_code":"DE","type":"education","lineage":["https://openalex.org/I196349391"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manfred Reichert","raw_affiliation_strings":["Institute of Databases and Information Systems (DBIS), Ulm University, Ulm, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2536-4153","affiliations":[{"raw_affiliation_string":"Institute of Databases and Information Systems (DBIS), Ulm University, Ulm, Germany","institution_ids":["https://openalex.org/I196349391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072658828"],"corresponding_institution_ids":["https://openalex.org/I1332474105","https://openalex.org/I196349391"],"apc_list":null,"apc_paid":null,"fwci":3.4615,"has_fulltext":true,"cited_by_count":45,"citation_normalized_percentile":{"value":0.92311605,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":"11","first_page":"7129","last_page":"7144"},"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/T10370","display_name":"Traffic and Road Safety","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9706000089645386,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/anticipation","display_name":"Anticipation (artificial intelligence)","score":0.5924292206764221},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5875694751739502},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5113074779510498},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5006344318389893},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46569833159446716},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.44633352756500244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37476837635040283},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35871559381484985}],"concepts":[{"id":"https://openalex.org/C176777502","wikidata":"https://www.wikidata.org/wiki/Q4774623","display_name":"Anticipation (artificial intelligence)","level":2,"score":0.5924292206764221},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5875694751739502},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5113074779510498},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5006344318389893},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46569833159446716},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.44633352756500244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37476837635040283},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35871559381484985},{"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.2020.3002070","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tits.2020.3002070","pdf_url":"https://ieeexplore.ieee.org/ielx7/6979/9599518/09126120.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:dbis.eprints.uni-ulm.de:2005","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402181","display_name":"DBIS EPub (University of Ulm)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I196349391","host_organization_name":"Universit\u00e4t Ulm","host_organization_lineage":["https://openalex.org/I196349391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:arXiv.org:1910.07772","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.07772","pdf_url":"https://arxiv.org/pdf/1910.07772","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1109/tits.2020.3002070","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tits.2020.3002070","pdf_url":"https://ieeexplore.ieee.org/ielx7/6979/9599518/09126120.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318008","display_name":"Universit\u00e4t Siegen","ror":"https://ror.org/02azyry73"},{"id":"https://openalex.org/F4320325530","display_name":"Universit\u00e4t Ulm","ror":"https://ror.org/032000t02"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2980695382.pdf","grobid_xml":"https://content.openalex.org/works/W2980695382.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W61015563","https://openalex.org/W410850256","https://openalex.org/W816883212","https://openalex.org/W1480376833","https://openalex.org/W1503398984","https://openalex.org/W1505721114","https://openalex.org/W1560107318","https://openalex.org/W1978529738","https://openalex.org/W2017337590","https://openalex.org/W2039240409","https://openalex.org/W2076133911","https://openalex.org/W2084835622","https://openalex.org/W2097545165","https://openalex.org/W2101234009","https://openalex.org/W2101807845","https://openalex.org/W2133133694","https://openalex.org/W2138997468","https://openalex.org/W2343381408","https://openalex.org/W2411577903","https://openalex.org/W2507412229","https://openalex.org/W2514940730","https://openalex.org/W2582443945","https://openalex.org/W2739974901","https://openalex.org/W2741379897","https://openalex.org/W2765410765","https://openalex.org/W2784715585","https://openalex.org/W2807173182","https://openalex.org/W2896642734","https://openalex.org/W2905257731","https://openalex.org/W2949880758","https://openalex.org/W2963288913","https://openalex.org/W2963906196","https://openalex.org/W2963914175","https://openalex.org/W2998216295","https://openalex.org/W3104946437","https://openalex.org/W4285719527","https://openalex.org/W6602473807","https://openalex.org/W6614148910","https://openalex.org/W6633497745","https://openalex.org/W6675354045","https://openalex.org/W6741673389","https://openalex.org/W7066667914"],"related_works":["https://openalex.org/W2150761772","https://openalex.org/W4213201576","https://openalex.org/W1579870145","https://openalex.org/W4285549518","https://openalex.org/W2765459612","https://openalex.org/W1525751611","https://openalex.org/W2536531738","https://openalex.org/W2091185165","https://openalex.org/W2913976737","https://openalex.org/W2381419481"],"abstract_inverted_index":{"By":[0],"observing":[1],"their":[2,55],"environment":[3],"as":[4,6],"well":[5],"other":[7],"traffic":[8],"participants,":[9],"humans":[10],"are":[11],"enabled":[12],"to":[13,67,75,85,103,151,185],"drive":[14],"road":[15],"vehicles":[16,65],"safely.":[17],"Vehicle":[18],"passengers,":[19],"however,":[20],"perceive":[21],"a":[22,87,96,122,191,198],"notable":[23],"difference":[24],"between":[25],"non-experienced":[26],"and":[27,50,77,101,116,136],"experienced":[28],"drivers.":[29],"In":[30],"particular,":[31],"they":[32],"may":[33],"get":[34],"the":[35,38,46,60,68,80,157,165,187],"impression":[36],"that":[37,147],"latter":[39],"ones":[40],"anticipate":[41],"what":[42],"will":[43],"happen":[44],"in":[45,54],"next":[47,158],"few":[48],"moments":[49],"consider":[51],"these":[52,118],"foresights":[53],"driving":[56,61,135,142,153],"behavior.":[57],"To":[58,114],"make":[59],"style":[62],"of":[63,70,90,99,133,194,202],"automated":[64],"comparable":[66],"one":[69],"human":[71],"drivers":[72],"with":[73,161,190,197],"respect":[74],"comfort":[76],"perceived":[78],"safety,":[79],"aforementioned":[81],"anticipation":[82],"skills":[83],"need":[84],"become":[86],"built-in":[88],"feature":[89],"self-driving":[91,108],"vehicles.":[92],"This":[93,182],"article":[94],"provides":[95],"systematic":[97],"comparison":[98],"methods":[100],"strategies":[102],"generate":[104],"this":[105],"intention":[106],"for":[107,177],"cars":[109],"using":[110],"machine":[111],"learning":[112],"techniques.":[113],"implement":[115],"test":[117],"algorithms":[119],"we":[120],"use":[121],"large":[123],"data":[124],"set":[125],"collected":[126],"over":[127],"more":[128],"than":[129,204],"30":[130],"000":[131,140],"km":[132],"highway":[134],"containing":[137],"approximately":[138],"40":[139],"real-world":[141],"situations.":[143],"We":[144],"further":[145],"show":[146],"it":[148],"is":[149],"possible":[150],"classify":[152],"maneuvers":[154],"upcoming":[155],"within":[156],"5":[159,195],"s":[160,196],"an":[162],"Area":[163],"Under":[164],"<italic":[166,171],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[167,172],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ROC</i>":[168],"Curve":[169],"(":[170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">AUC</i>":[173],")":[174],"above":[175],"0.92":[176],"all":[178],"defined":[179],"maneuver":[180],"classes.":[181],"enables":[183],"us":[184],"predict":[186],"lateral":[188,200],"position":[189],"prediction":[192],"horizon":[193],"median":[199],"error":[201],"less":[203],"0.21":[205],"m.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2019-10-25T00:00:00"}
