{"id":"https://openalex.org/W3131008338","doi":"https://doi.org/10.1109/tits.2021.3057110","title":"Trajectory Prediction-Based Local Spatio-Temporal Navigation Map for Autonomous Driving in Dynamic Highway Environments","display_name":"Trajectory Prediction-Based Local Spatio-Temporal Navigation Map for Autonomous Driving in Dynamic Highway Environments","publication_year":2021,"publication_date":"2021-02-20","ids":{"openalex":"https://openalex.org/W3131008338","doi":"https://doi.org/10.1109/tits.2021.3057110","mag":"3131008338"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2021.3057110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3057110","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/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100738839","display_name":"Ting Zhang","orcid":"https://orcid.org/0000-0002-1899-1784"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ting Zhang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029808668","display_name":"Wenjie Song","orcid":"https://orcid.org/0000-0002-4121-908X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Song","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4121-908X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3964-2433","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416064","display_name":"Meiling Wang","orcid":"https://orcid.org/0000-0002-3618-7423"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiling Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3618-7423","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":3.1588,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.91588524,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"23","issue":"7","first_page":"6418","last_page":"6429"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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":0.9995999932289124,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11106","display_name":"Data Management and Algorithms","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/trajectory","display_name":"Trajectory","score":0.7512763738632202},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5948556065559387},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.45600593090057373},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4120141565799713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3966655433177948},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21787428855895996},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10293221473693848}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7512763738632202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5948556065559387},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.45600593090057373},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4120141565799713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3966655433177948},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21787428855895996},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10293221473693848},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2021.3057110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3057110","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","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[{"id":"https://openalex.org/G206231915","display_name":null,"funder_award_id":"91120003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2217668812","display_name":null,"funder_award_id":"61903034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5448203614","display_name":null,"funder_award_id":"61973034","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5583208626","display_name":null,"funder_award_id":"IRT-16R06","funder_id":"https://openalex.org/F4320338204","funder_display_name":"Program for Changjiang Scholars and Innovative Research Team in University"},{"id":"https://openalex.org/G6554935138","display_name":null,"funder_award_id":"T2014224","funder_id":"https://openalex.org/F4320338204","funder_display_name":"Program for Changjiang Scholars and Innovative Research Team in University"},{"id":"https://openalex.org/G6937405481","display_name":null,"funder_award_id":"2019TQ0035","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7914619715","display_name":null,"funder_award_id":"U1913203","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320327514","display_name":"Beijing Institute of Technology Research Fund Program for Young Scholars","ror":null},{"id":"https://openalex.org/F4320338204","display_name":"Program for Changjiang Scholars and Innovative Research Team in University","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1579853615","https://openalex.org/W1810943226","https://openalex.org/W2012849708","https://openalex.org/W2019550475","https://openalex.org/W2079150870","https://openalex.org/W2084835622","https://openalex.org/W2153323685","https://openalex.org/W2343381408","https://openalex.org/W2503238138","https://openalex.org/W2507412229","https://openalex.org/W2523137271","https://openalex.org/W2525884872","https://openalex.org/W2561432806","https://openalex.org/W2564091245","https://openalex.org/W2564488542","https://openalex.org/W2567297805","https://openalex.org/W2607296803","https://openalex.org/W2740957115","https://openalex.org/W2741066535","https://openalex.org/W2741086815","https://openalex.org/W2772194428","https://openalex.org/W2783162922","https://openalex.org/W2783466847","https://openalex.org/W2784715585","https://openalex.org/W2789926622","https://openalex.org/W2792239816","https://openalex.org/W2793861472","https://openalex.org/W2803184913","https://openalex.org/W2841499586","https://openalex.org/W2883602772","https://openalex.org/W2884634491","https://openalex.org/W2892122874","https://openalex.org/W2905301806","https://openalex.org/W2912243751","https://openalex.org/W2946793410","https://openalex.org/W2963489164","https://openalex.org/W2963914175","https://openalex.org/W2964193755","https://openalex.org/W3103050138","https://openalex.org/W3104946437","https://openalex.org/W3105115779","https://openalex.org/W6631190155","https://openalex.org/W6634817459","https://openalex.org/W6638273328","https://openalex.org/W6677088747","https://openalex.org/W6747446728","https://openalex.org/W6753596642"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Autonomous":[0],"driving,":[1],"including":[2],"intelligent":[3],"decision-making":[4,48],"and":[5,34,49,66,136,182],"path":[6,50],"planning,":[7],"in":[8,20,52,114,157,191],"dynamic":[9,119,134,151,193],"environments":[10,159],"(like":[11],"highway)":[12],"is":[13,64,170],"significantly":[14],"more":[15],"difficult":[16],"than":[17],"the":[18,25,31,35,69,72,75,84,107,110,143,150,167,175,179,183],"navigation":[19,44],"static":[21,137],"scenarios":[22],"because":[23],"of":[24,55,71,98,106,117,172],"additional":[26],"time":[27,32],"dimension.":[28],"Therefore,":[29],"correlating":[30],"dimension":[33,37],"space":[36],"through":[38],"prediction":[39],"to":[40,94,128],"create":[41,129],"a":[42,103,115,125],"spatio-temporal":[43,126,185],"map":[45,147,186],"can":[46,139,160,187],"make":[47],"planning":[51],"such":[53],"kinds":[54],"environment":[56],"much":[57],"easier.":[58],"In":[59],"this":[60],"article,":[61],"NGSIM":[62],"data":[63,76],"analysed":[65],"processed":[67],"from":[68],"perspective":[70],"ego-vehicle":[73,180],"(using":[74],"as":[77],"an":[78,88,130],"ego-vehicle\u2019s":[79],"perception":[80],"results).":[81],"Based":[82],"on":[83],"data,":[85],"we":[86],"develop":[87],"LSTM":[89],"(Long-Short":[90],"Term":[91],"Memory)-based":[92],"framework":[93],"predict":[95],"possible":[96],"trajectories":[97,113,177],"multiple":[99,111],"surrounding":[100],"vehicles":[101],"within":[102],"certain":[104],"range":[105],"ego-vehicle.":[108],"Then,":[109],"predicted":[112],"series":[116],"continuous":[118],"highway":[120,158],"scenes":[121],"are":[122],"projected":[123],"into":[124,142],"domain":[127,145],"octree":[131],"map.":[132],"Thus,":[133],"targets":[135],"obstacles":[138],"be":[140,161,188],"unified":[141],"same":[144],"or":[146],"so":[148],"that":[149,166],"disturbance":[152],"problem":[153],"for":[154],"autonomous":[155],"driving":[156],"resolved.":[162],"Experimental":[163],"results":[164],"show":[165],"proposed":[168],"model":[169],"capable":[171],"predicting":[173],"all":[174],"future":[176],"around":[178],"efficiently":[181],"corresponding":[184],"generated":[189],"accurately":[190],"different":[192],"scenarios.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}
