{"id":"https://openalex.org/W4412984980","doi":"https://doi.org/10.1109/tits.2025.3589450","title":"Protocol-Based Fusion Estimator for Motion State of Surrounding Vehicles Under Connected Environment","display_name":"Protocol-Based Fusion Estimator for Motion State of Surrounding Vehicles Under Connected Environment","publication_year":2025,"publication_date":"2025-08-05","ids":{"openalex":"https://openalex.org/W4412984980","doi":"https://doi.org/10.1109/tits.2025.3589450"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3589450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3589450","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/A5086319208","display_name":"Fanxun Wang","orcid":"https://orcid.org/0009-0004-5270-9748"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fanxun Wang","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013018892","display_name":"Tong Shen","orcid":"https://orcid.org/0000-0001-8861-3431"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Shen","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413669","display_name":"Ang Li","orcid":"https://orcid.org/0009-0008-2561-8348"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ang Li","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002503033","display_name":"Yanjun Ren","orcid":"https://orcid.org/0000-0002-2221-7898"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Ren","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011069647","display_name":"Mingzhuo Zhao","orcid":"https://orcid.org/0000-0001-8432-4050"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingzhuo Zhao","raw_affiliation_strings":["School of Cyber Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Cyber Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100844637","display_name":"Xin Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Bai","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102020887","display_name":"Yanbo Lu","orcid":"https://orcid.org/0000-0001-5711-7742"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanbo Lu","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064394634","display_name":"Guodong Yin","orcid":"https://orcid.org/0000-0002-8437-7598"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Yin","raw_affiliation_strings":["School of Mechanical Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5086319208"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.7073,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73872463,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"26","issue":"10","first_page":"15596","last_page":"15615"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.8867999911308289,"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":0.8867999911308289,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.8691999912261963,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.8616999983787537,"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/estimator","display_name":"Estimator","score":0.5971149206161499},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5708587169647217},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5357927680015564},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.5108070373535156},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.49063530564308167},{"id":"https://openalex.org/keywords/state-estimator","display_name":"State estimator","score":0.41926339268684387},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4175618588924408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3690776824951172},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16290786862373352},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14729410409927368},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11177131533622742},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07428804039955139}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5971149206161499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708587169647217},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5357927680015564},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.5108070373535156},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.49063530564308167},{"id":"https://openalex.org/C2984536560","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State estimator","level":3,"score":0.41926339268684387},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4175618588924408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3690776824951172},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16290786862373352},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14729410409927368},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11177131533622742},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07428804039955139},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3589450","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3589450","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":0.44999998807907104,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2993136116","display_name":null,"funder_award_id":"52025121","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3134043514","display_name":null,"funder_award_id":"523B2102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7433861194","display_name":null,"funder_award_id":"52394263","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W2000340713","https://openalex.org/W2024522552","https://openalex.org/W2054091988","https://openalex.org/W2083402998","https://openalex.org/W2101051269","https://openalex.org/W2132570625","https://openalex.org/W2267583898","https://openalex.org/W2302256292","https://openalex.org/W2345172184","https://openalex.org/W2613420840","https://openalex.org/W2802909619","https://openalex.org/W2844672055","https://openalex.org/W2903665206","https://openalex.org/W2962822210","https://openalex.org/W2963026222","https://openalex.org/W2970144961","https://openalex.org/W2997958396","https://openalex.org/W3027249705","https://openalex.org/W3039287480","https://openalex.org/W3083092406","https://openalex.org/W3091871690","https://openalex.org/W3117379804","https://openalex.org/W3129045349","https://openalex.org/W3136119534","https://openalex.org/W3158697977","https://openalex.org/W3159162586","https://openalex.org/W3163749661","https://openalex.org/W3171142246","https://openalex.org/W3187899477","https://openalex.org/W3211077159","https://openalex.org/W4205859350","https://openalex.org/W4206477027","https://openalex.org/W4210613082","https://openalex.org/W4285303367","https://openalex.org/W4291993413","https://openalex.org/W4376631496","https://openalex.org/W4379538705","https://openalex.org/W4382365750","https://openalex.org/W4386262117","https://openalex.org/W4387385585","https://openalex.org/W4389065327","https://openalex.org/W4389538642"],"related_works":["https://openalex.org/W4287880334","https://openalex.org/W4366700029","https://openalex.org/W4285230481","https://openalex.org/W4385769873","https://openalex.org/W4396824790","https://openalex.org/W4281634296","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Accurately":[0],"obtaining":[1],"motion":[2,24,55],"states":[3,56],"of":[4,19,57,99,122,135,147,192],"surrounding":[5],"vehicles":[6,21],"(SVs)":[7],"plays":[8],"a":[9,46,123,141],"pivotal":[10],"role":[11],"in":[12],"achieving":[13],"the":[14,27,32,54,61,90,110,120,132,144,148,175,180,188,193],"safety":[15],"and":[16,39,71,84,97,101,164,190],"closed-loop":[17],"optimality":[18],"intelligent":[20],"(IVs)":[22],"for":[23,52],"control,":[25],"where":[26],"connected":[28],"environment":[29],"serves":[30],"as":[31],"hardware":[33],"foundation.":[34],"To":[35],"mitigate":[36],"data":[37,111],"collisions":[38],"alleviate":[40],"communication":[41,78,136],"burdens,":[42],"this":[43],"paper":[44],"introduces":[45],"novel":[47,124],"protocol-based":[48,125,176,181],"fusion":[49],"estimator":[50],"(PBFE)":[51],"estimating":[53],"SVs.":[58],"Based":[59],"on":[60,138,159],"time-varying":[62],"nonlinear":[63],"system":[64],"models,":[65],"RRP-based":[66],"cubature":[67],"Kalman":[68,183],"filter":[69,184],"(CKF)":[70],"WTODP-based":[72],"CKF":[73,92,177],"are":[74,103,106,171,196],"designed,":[75],"which":[76,105],"embed":[77],"protocols,":[79],"i.e.,":[80],"round-robin":[81],"protocol":[82,87],"(RRP)":[83],"weighted":[85],"try-once-discard":[86],"(WTODP),":[88],"into":[89],"variable-structure":[91],"framework.":[93],"Then,":[94],"mathematical":[95],"definitions":[96],"descriptions":[98],"RRP":[100],"WTODP":[102],"provided,":[104],"utilized":[107],"to":[108,116,119,129,173],"adjust":[109],"transmission":[112],"mechanism":[113],"from":[114,140,162],"sensors":[115],"estimators,":[117],"leading":[118],"establishment":[121],"measurement":[126],"model.":[127],"Subsequently,":[128],"preemptively":[130],"quantify":[131],"performance":[133],"impact":[134],"protocols":[137],"PBFE":[139],"theoretical":[142],"perspective,":[143],"boundedness":[145],"analysis":[146],"estimation":[149],"error":[150],"is":[151],"rigorously":[152],"derived.":[153],"Conclusively,":[154],"virtual":[155],"simulations":[156],"(VSs)":[157],"based":[158],"high-fidelity":[160],"models":[161],"CarSim":[163],"Matlab/Simulink,":[165],"covering":[166],"diverse":[167],"real-world":[168],"driving":[169],"scenarios,":[170],"conducted":[172],"compare":[174],"method":[178],"with":[179],"unscented":[182],"(UKF)":[185],"method.":[186],"Furthermore,":[187],"robustness":[189],"stability":[191],"proposed":[194],"approach":[195],"verified":[197],"through":[198],"practical":[199],"on-road":[200],"tests":[201],"(ORTs).":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}