{"id":"https://openalex.org/W4387245344","doi":"https://doi.org/10.1109/tiv.2023.3321275","title":"Navigating Unsignalized Intersections: A Predictive Approach for Safe and Cautious Autonomous Driving","display_name":"Navigating Unsignalized Intersections: A Predictive Approach for Safe and Cautious Autonomous Driving","publication_year":2023,"publication_date":"2023-10-02","ids":{"openalex":"https://openalex.org/W4387245344","doi":"https://doi.org/10.1109/tiv.2023.3321275"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3321275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3321275","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5039891352","display_name":"Niusha Pourjafari","orcid":"https://orcid.org/0000-0002-4592-2944"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Niusha Pourjafari","raw_affiliation_strings":["Mechanical engineering, KN Toosi University of Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0002-4592-2944","affiliations":[{"raw_affiliation_string":"Mechanical engineering, KN Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041584153","display_name":"Amir Ghafari","orcid":"https://orcid.org/0000-0001-7085-1853"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Amir Ghafari","raw_affiliation_strings":["Mechanical engineering, KN Toosi University of Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-7085-1853","affiliations":[{"raw_affiliation_string":"Mechanical engineering, KN Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101707348","display_name":"Ali Ghaffari","orcid":"https://orcid.org/0000-0001-8769-9982"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Ali Ghaffari","raw_affiliation_strings":["Mechanical engineering, KN Toosi University of Technology, Tehran, Iran"],"raw_orcid":"https://orcid.org/0000-0001-8769-9982","affiliations":[{"raw_affiliation_string":"Mechanical engineering, KN Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":0.7772,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.70438582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"9","issue":"1","first_page":"269","last_page":"278"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9973000288009644,"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":0.9940000176429749,"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/traverse","display_name":"Traverse","score":0.9274154901504517},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.729546308517456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7068467140197754},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6624504327774048},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5528377294540405},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5186702013015747},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.47246408462524414},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4633072018623352},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.46268215775489807},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4615139961242676},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44532787799835205},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41296103596687317},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40814751386642456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3600701093673706},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13976898789405823},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12299245595932007},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.09922218322753906},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08939456939697266},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08097609877586365},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0788026750087738}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.9274154901504517},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.729546308517456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7068467140197754},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6624504327774048},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5528377294540405},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5186702013015747},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.47246408462524414},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4633072018623352},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.46268215775489807},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4615139961242676},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44532787799835205},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41296103596687317},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40814751386642456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3600701093673706},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13976898789405823},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12299245595932007},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.09922218322753906},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08939456939697266},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08097609877586365},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0788026750087738},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3321275","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3321275","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2087366641","https://openalex.org/W2099454002","https://openalex.org/W2148361676","https://openalex.org/W2559767995","https://openalex.org/W2604216058","https://openalex.org/W2740607401","https://openalex.org/W2904904203","https://openalex.org/W2913367279","https://openalex.org/W2945257394","https://openalex.org/W2958960077","https://openalex.org/W2963489164","https://openalex.org/W2967177252","https://openalex.org/W2967390659","https://openalex.org/W2968983352","https://openalex.org/W2975767248","https://openalex.org/W2980087597","https://openalex.org/W2989851631","https://openalex.org/W2990696475","https://openalex.org/W2991575536","https://openalex.org/W2995649812","https://openalex.org/W3007298738","https://openalex.org/W3008140252","https://openalex.org/W3011462663","https://openalex.org/W3020107244","https://openalex.org/W3096720394","https://openalex.org/W3104510457","https://openalex.org/W3127823707","https://openalex.org/W3206704105","https://openalex.org/W4206012009","https://openalex.org/W4210389471","https://openalex.org/W4285047697","https://openalex.org/W4297031087","https://openalex.org/W6768870957"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W626552678","https://openalex.org/W3005999311","https://openalex.org/W607781325","https://openalex.org/W3042530408"],"abstract_inverted_index":{"Collision":[0],"avoidance":[1],"at":[2,48],"unsignalized":[3,38],"intersections":[4],"is":[5,42,218,228],"critical":[6],"to":[7,62,110,211],"autonomous":[8,33,175],"vehicle":[9,192],"technology.":[10],"Our":[11,81],"work":[12],"addresses":[13],"the":[14,64,69,91,101,107,112,118,124,139,143,158,164,186,190,195,213,224],"challenging":[15],"problem":[16],"of":[17,66,88,120],"online":[18],"speed":[19],"planning":[20],"along":[21],"a":[22,55,167],"predefined":[23],"traverse":[24,111],"path":[25],"based":[26,72,116],"on":[27,73,117,181],"an":[28,78,86,131],"interaction-aware":[29],"prediction":[30],"algorithm":[31,41,129,165,180,217],"between":[32],"and":[34,54,160,170,189,223],"human-driven":[35,204],"vehicles":[36,67],"in":[37,44,123,151,174,197],"intersections.":[39],"The":[40,128,216],"executed":[43,219],"three":[45,208],"sequential":[46],"steps":[47],"each":[49],"instant:":[50],"(i)":[51],"An":[52],"LSTM":[53],"graph":[56],"neural":[57],"network":[58],"(GNN)":[59],"are":[60],"trained":[61],"predict":[63],"sequence":[65,119],"crossing":[68,138],"collision":[70,113,140,153,162],"point":[71,114,141],"their":[74],"interactions,":[75],"acting":[76],"as":[77],"expert":[79],"driver.":[80],"future":[82],"behavior":[83,173],"predictor":[84],"achieved":[85,95],"accuracy":[87],"90.5%,":[89],"outperforming":[90],"alternative":[92],"approach,":[93],"which":[94],"88%.":[96],"(ii)":[97],"Another":[98],"GNN":[99],"estimates":[100],"approximate":[102],"time":[103,144,227],"window":[104,145],"required":[105],"for":[106],"self-driving":[108,191],"car":[109],"safely,":[115],"passage":[121],"obtained":[122],"previous":[125],"stage.":[126],"(iii)":[127],"calculates":[130],"acceleration":[132],"value":[133],"that":[134],"not":[135],"only":[136],"ensures":[137],"within":[142],"but":[146],"also":[147],"avoids":[148],"dangerous":[149],"situations":[150],"subsequent":[152,161],"points.":[154],"By":[155],"considering":[156],"both":[157],"immediate":[159],"points,":[163],"promotes":[166],"more":[168,201],"comprehensive":[169],"cautious":[171],"driving":[172],"vehicles.":[176],"We":[177,206],"ran":[178],"our":[179],"250":[182],"real-world":[183],"scenarios":[184],"from":[185],"INTERACTION":[187],"dataset,":[188],"safely":[193],"passed":[194],"intersection":[196],"all":[198],"cases,":[199],"even":[200],"cautiously":[202],"than":[203],"cars.":[205],"presented":[207],"case":[209],"studies":[210],"illustrate":[212],"algorithm's":[214],"effectiveness.":[215],"every":[220],"100":[221],"ms,":[222],"average":[225],"computational":[226],"28":[229],"ms.":[230]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}