{"id":"https://openalex.org/W4382203410","doi":"https://doi.org/10.1109/tits.2023.3287186","title":"Heterogeneous Trajectory Forecasting via Risk and Scene Graph Learning","display_name":"Heterogeneous Trajectory Forecasting via Risk and Scene Graph Learning","publication_year":2023,"publication_date":"2023-06-27","ids":{"openalex":"https://openalex.org/W4382203410","doi":"https://doi.org/10.1109/tits.2023.3287186"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3287186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3287186","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/A5042245655","display_name":"Jianwu Fang","orcid":"https://orcid.org/0000-0002-0300-6892"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Jianwu Fang","raw_affiliation_strings":["College of Transportation Engineering, Chang’an University, Xi’an, China","NExT++ Centre, School of Computing, National University of Singapore, Queenstown, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-0300-6892","affiliations":[{"raw_affiliation_string":"College of Transportation Engineering, Chang’an University, Xi’an, China","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"NExT++ Centre, School of Computing, National University of Singapore, Queenstown, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003080129","display_name":"Chen Zhu","orcid":"https://orcid.org/0000-0002-4320-4826"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen Zhu","raw_affiliation_strings":["School of Electronic and Control Engineering, Chang’an University, Xi’an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Control Engineering, Chang’an University, Xi’an, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101867043","display_name":"Zhang Pu","orcid":"https://orcid.org/0000-0002-2539-964X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pu Zhang","raw_affiliation_strings":["KargoBot, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2539-964X","affiliations":[{"raw_affiliation_string":"KargoBot, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025512337","display_name":"Hongkai Yu","orcid":"https://orcid.org/0000-0001-5383-8913"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongkai Yu","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Cleveland State University, Cleveland, OH, USA"],"raw_orcid":"https://orcid.org/0000-0001-5383-8913","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Cleveland State University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024309592","display_name":"Jianru Xue","orcid":"https://orcid.org/0000-0002-4994-9343"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianru Xue","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0002-4994-9343","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.622,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.96901487,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"24","issue":"11","first_page":"12078","last_page":"12091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11980","display_name":"Human Mobility and Location-Based Analysis","score":0.9810000061988831,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11980","display_name":"Human Mobility and Location-Based Analysis","score":0.9810000061988831,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9799000024795532,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9732000231742859,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6799536943435669},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6759365200996399},{"id":"https://openalex.org/keywords/adjacency-matrix","display_name":"Adjacency matrix","score":0.6216539740562439},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5906738042831421},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.49944114685058594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4869562089443207},{"id":"https://openalex.org/keywords/adjacency-list","display_name":"Adjacency list","score":0.4678680896759033},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4246487021446228},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2736451029777527},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13200145959854126}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6799536943435669},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6759365200996399},{"id":"https://openalex.org/C180356752","wikidata":"https://www.wikidata.org/wiki/Q727035","display_name":"Adjacency matrix","level":3,"score":0.6216539740562439},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5906738042831421},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.49944114685058594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4869562089443207},{"id":"https://openalex.org/C110484373","wikidata":"https://www.wikidata.org/wiki/Q264398","display_name":"Adjacency list","level":2,"score":0.4678680896759033},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4246487021446228},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2736451029777527},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13200145959854126},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"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":2,"locations":[{"id":"doi:10.1109/tits.2023.3287186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3287186","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:engagedscholarship.csuohio.edu:enece_facpub-1536","is_oa":false,"landing_page_url":"https://engagedscholarship.csuohio.edu/enece_facpub/525","pdf_url":null,"source":{"id":"https://openalex.org/S4306400889","display_name":"EngagedScholarship @ Cleveland State University (Cleveland State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102607778","host_organization_name":"Cleveland State University","host_organization_lineage":["https://openalex.org/I102607778"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Electrical and Computer Engineering Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[{"id":"https://openalex.org/G5656217442","display_name":null,"funder_award_id":"2022JM-309","funder_id":"https://openalex.org/F4320336567","funder_display_name":"Natural Science Basic Research Program of Shaanxi Province"},{"id":"https://openalex.org/G6934470640","display_name":null,"funder_award_id":"62273057","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7191297351","display_name":null,"funder_award_id":"62036008","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/F4320336567","display_name":"Natural Science Basic Research Program of Shaanxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":89,"referenced_works":["https://openalex.org/W1201578726","https://openalex.org/W1677182931","https://openalex.org/W1820081798","https://openalex.org/W2164489414","https://openalex.org/W2165874743","https://openalex.org/W2424778531","https://openalex.org/W2607296803","https://openalex.org/W2766836212","https://openalex.org/W2892614179","https://openalex.org/W2894978157","https://openalex.org/W2905385096","https://openalex.org/W2940129212","https://openalex.org/W2955189650","https://openalex.org/W2963001155","https://openalex.org/W2963353290","https://openalex.org/W2963945905","https://openalex.org/W2968638474","https://openalex.org/W2985936292","https://openalex.org/W2986406093","https://openalex.org/W2991653934","https://openalex.org/W3004201988","https://openalex.org/W3009886679","https://openalex.org/W3026544131","https://openalex.org/W3028769608","https://openalex.org/W3034722190","https://openalex.org/W3035017890","https://openalex.org/W3035054225","https://openalex.org/W3035096461","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3035671534","https://openalex.org/W3090783937","https://openalex.org/W3092244760","https://openalex.org/W3095208105","https://openalex.org/W3107552218","https://openalex.org/W3110015970","https://openalex.org/W3116651890","https://openalex.org/W3128196514","https://openalex.org/W3139491754","https://openalex.org/W3158773522","https://openalex.org/W3159893765","https://openalex.org/W3160050461","https://openalex.org/W3163510801","https://openalex.org/W3170672542","https://openalex.org/W3171077607","https://openalex.org/W3188129244","https://openalex.org/W3196864007","https://openalex.org/W3197849985","https://openalex.org/W3198662297","https://openalex.org/W3200533894","https://openalex.org/W3201859961","https://openalex.org/W3204219722","https://openalex.org/W3205539057","https://openalex.org/W3212962248","https://openalex.org/W3214950490","https://openalex.org/W4200430846","https://openalex.org/W4206209964","https://openalex.org/W4210457203","https://openalex.org/W4213396016","https://openalex.org/W4214895168","https://openalex.org/W4225724731","https://openalex.org/W4225882772","https://openalex.org/W4256492588","https://openalex.org/W4288287716","https://openalex.org/W4293202920","https://openalex.org/W4308164806","https://openalex.org/W4310828996","https://openalex.org/W4312051516","https://openalex.org/W4312246181","https://openalex.org/W4312265233","https://openalex.org/W4312991791","https://openalex.org/W4376121862","https://openalex.org/W6684578312","https://openalex.org/W6765361892","https://openalex.org/W6767342764","https://openalex.org/W6769043036","https://openalex.org/W6774458761","https://openalex.org/W6777902602","https://openalex.org/W6779371077","https://openalex.org/W6784071224","https://openalex.org/W6784074276","https://openalex.org/W6784275320","https://openalex.org/W6796929002","https://openalex.org/W6803731244","https://openalex.org/W6809592804","https://openalex.org/W6846313009","https://openalex.org/W6846483008","https://openalex.org/W6847288970","https://openalex.org/W7049010113"],"related_works":["https://openalex.org/W4213150077","https://openalex.org/W2369410163","https://openalex.org/W2982430984","https://openalex.org/W2078477160","https://openalex.org/W2059018062","https://openalex.org/W2604585036","https://openalex.org/W1991172810","https://openalex.org/W125803343","https://openalex.org/W2117632582","https://openalex.org/W4388347373"],"abstract_inverted_index":{"Heterogeneous":[0,57],"trajectory":[1,47,130],"forecasting":[2,48,131],"is":[3,11,103,142],"critical":[4],"for":[5,46],"intelligent":[6],"transportation":[7],"systems,":[8],"but":[9],"it":[10],"challenging":[12],"because":[13],"of":[14,17,49,55,70,82,99],"the":[15,19,24,68,100,107,118,148],"difficulty":[16],"modeling":[18],"complex":[20],"interaction":[21,88],"relations":[22],"among":[23],"heterogeneous":[25,50],"road":[26,51,83,110,113,119],"agents":[27,111],"as":[28,30],"well":[29],"their":[31,74,87],"agent-environment":[32],"constraints.":[33],"In":[34],"this":[35,124],"work,":[36],"we":[37,126],"propose":[38],"a":[39,56,62],"risk":[40,96],"and":[41,61,73,85,112,135,151],"scene":[42,102,120],"graph":[43],"learning":[44],"method":[45],"agents,":[52],"which":[53],"consists":[54],"Risk":[58],"Graph":[59,65],"(HRG)":[60],"Hierarchical":[63],"Scene":[64],"(HSG)":[66],"from":[67],"aspects":[69],"agent":[71,84],"category":[72],"movable":[75],"semantic":[76,114],"regions.":[77],"HRG":[78],"groups":[79],"each":[80],"kind":[81],"calculates":[86],"adjacency":[89],"matrix":[90],"based":[91],"on":[92,123,147],"an":[93],"effective":[94,129],"collision":[95],"metric.":[97],"HSG":[98],"driving":[101,133],"modeled":[104],"by":[105,117,144],"inferring":[106],"relationship":[108],"between":[109],"layout":[115],"aligned":[116],"grammar.":[121],"Based":[122],"formulation,":[125],"can":[127],"obtain":[128],"in":[132],"situations,":[134],"comparable":[136],"performance":[137],"to":[138],"other":[139],"state-of-the-art":[140],"approaches":[141],"presented":[143],"extensive":[145],"experiments":[146],"nuScenes,":[149],"ApolloScape,":[150],"Argoverse":[152],"datasets.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}