{"id":"https://openalex.org/W4399618805","doi":"https://doi.org/10.1109/tiv.2024.3414198","title":"Segment-Based Trajectory Prediction and Risk Assessment for RSU-Assisted CAVs at Signalized Intersections","display_name":"Segment-Based Trajectory Prediction and Risk Assessment for RSU-Assisted CAVs at Signalized Intersections","publication_year":2024,"publication_date":"2024-06-13","ids":{"openalex":"https://openalex.org/W4399618805","doi":"https://doi.org/10.1109/tiv.2024.3414198"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2024.3414198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3414198","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":true,"oa_status":"green","oa_url":"https://handle.uba.uva.nl/personal/pure/en/publications/segmentbased-trajectory-prediction-and-risk-assessment-for-rsuassisted-cavs-at-signalized-intersections(f56fa40b-8d86-47fa-a76d-f700150f46f7).html","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061785563","display_name":"Yue Cao","orcid":"https://orcid.org/0000-0002-6421-7140"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Cao","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6421-7140","affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002672308","display_name":"Wei Shangguan","orcid":"https://orcid.org/0000-0003-2901-0782"},"institutions":[{"id":"https://openalex.org/I2799978770","display_name":"X-Fab (Germany)","ror":"https://ror.org/030bh9196","country_code":"DE","type":"company","lineage":["https://openalex.org/I2799978770"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wei ShangGuan","raw_affiliation_strings":["School of Automation and Intelligence and the National  Key  Laboratory  of  Advanced  Rail  Transit  Autonomous  Operation, Beijing  Jiaotong  University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2901-0782","affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence and the National  Key  Laboratory  of  Advanced  Rail  Transit  Autonomous  Operation, Beijing  Jiaotong  University, Beijing, China","institution_ids":["https://openalex.org/I2799978770"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085420075","display_name":"A. Visser","orcid":"https://orcid.org/0000-0002-7525-7017"},"institutions":[{"id":"https://openalex.org/I887064364","display_name":"University of Amsterdam","ror":"https://ror.org/04dkp9463","country_code":"NL","type":"education","lineage":["https://openalex.org/I887064364"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Arnoud Visser","raw_affiliation_strings":["Intelligent Robotics and Computer Vision Lab of The Informatics Institute, Faculty of Science, University of Amsterdam, Amsterdam, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-7525-7017","affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Computer Vision Lab of The Informatics Institute, Faculty of Science, University of Amsterdam, Amsterdam, The Netherlands","institution_ids":["https://openalex.org/I887064364"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365557","display_name":"Junjie Chen","orcid":"https://orcid.org/0000-0003-4869-2010"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Chen","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050129469","display_name":"Linguo Chai","orcid":"https://orcid.org/0000-0001-6824-3007"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linguo Chai","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6824-3007","affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100636115","display_name":"Baigen Cai","orcid":"https://orcid.org/0000-0002-6440-005X"},"institutions":[{"id":"https://openalex.org/I2799978770","display_name":"X-Fab (Germany)","ror":"https://ror.org/030bh9196","country_code":"DE","type":"company","lineage":["https://openalex.org/I2799978770"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Baigen Cai","raw_affiliation_strings":["School of Automation and Intelligence and the National  Key  Laboratory  of  Advanced  Rail  Transit  Autonomous  Operation, Beijing  Jiaotong  University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6440-005X","affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence and the National  Key  Laboratory  of  Advanced  Rail  Transit  Autonomous  Operation, Beijing  Jiaotong  University, Beijing, China","institution_ids":["https://openalex.org/I2799978770"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2411,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.42433117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"1","first_page":"427","last_page":"445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T10524","display_name":"Traffic control and management","score":0.9952999949455261,"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"}},{"id":"https://openalex.org/T12095","display_name":"Vehicle emissions and performance","score":0.9896000027656555,"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/trajectory","display_name":"Trajectory","score":0.7686309218406677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47685134410858154},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.46402981877326965},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.43725624680519104},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3211715817451477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23586159944534302},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22758299112319946},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05223318934440613}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7686309218406677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47685134410858154},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.46402981877326965},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.43725624680519104},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3211715817451477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23586159944534302},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22758299112319946},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05223318934440613},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tiv.2024.3414198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2024.3414198","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"},{"id":"pmh:oai:dare.uva.nl:openaire_cris_publications/f56fa40b-8d86-47fa-a76d-f700150f46f7","is_oa":true,"landing_page_url":"https://handle.uba.uva.nl/personal/pure/en/publications/segmentbased-trajectory-prediction-and-risk-assessment-for-rsuassisted-cavs-at-signalized-intersections(f56fa40b-8d86-47fa-a76d-f700150f46f7).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400088","display_name":"UvA-DARE (University of Amsterdam)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887064364","host_organization_name":"University of Amsterdam","host_organization_lineage":["https://openalex.org/I887064364"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cao, Y, Shangguan, W, Visser, A, Chen, J, Chai, L & Cai, B 2025, 'Segment-Based Trajectory Prediction and Risk Assessment for RSU-assisted CAVs at Signalized Intersections', IEEE Transactions on Intelligent Vehicles, vol. 10, no. 1, pp. 427-445. https://doi.org/10.1109/TIV.2024.3414198","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:dare.uva.nl:openaire/f56fa40b-8d86-47fa-a76d-f700150f46f7","is_oa":true,"landing_page_url":"https://hdl.handle.net/11245.1/f56fa40b-8d86-47fa-a76d-f700150f46f7","pdf_url":"https://pure.uva.nl/ws/files/241156037/Segment-Based_Trajectory_Prediction_and_Risk_Assessment_for_RSU-assisted_CAVs.pdf","source":{"id":"https://openalex.org/S4306400088","display_name":"UvA-DARE (University of Amsterdam)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887064364","host_organization_name":"University of Amsterdam","host_organization_lineage":["https://openalex.org/I887064364"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cao, Y, Shangguan, W, Visser, A, Chen, J, Chai, L & Cai, B 2025, 'Segment-Based Trajectory Prediction and Risk Assessment for RSU-assisted CAVs at Signalized Intersections', IEEE Transactions on Intelligent Vehicles, vol. 10, no. 1, pp. 427-445. https://doi.org/10.1109/TIV.2024.3414198","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:dare.uva.nl:openaire_cris_publications/f56fa40b-8d86-47fa-a76d-f700150f46f7","is_oa":true,"landing_page_url":"https://handle.uba.uva.nl/personal/pure/en/publications/segmentbased-trajectory-prediction-and-risk-assessment-for-rsuassisted-cavs-at-signalized-intersections(f56fa40b-8d86-47fa-a76d-f700150f46f7).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400088","display_name":"UvA-DARE (University of Amsterdam)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887064364","host_organization_name":"University of Amsterdam","host_organization_lineage":["https://openalex.org/I887064364"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cao, Y, Shangguan, W, Visser, A, Chen, J, Chai, L & Cai, B 2025, 'Segment-Based Trajectory Prediction and Risk Assessment for RSU-assisted CAVs at Signalized Intersections', IEEE Transactions on Intelligent Vehicles, vol. 10, no. 1, pp. 427-445. https://doi.org/10.1109/TIV.2024.3414198","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G3359167677","display_name":null,"funder_award_id":"2024XKRC054","funder_id":"https://openalex.org/F4320323066","funder_display_name":"Beijing Jiaotong University"},{"id":"https://openalex.org/G7651152235","display_name":null,"funder_award_id":"52102396","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8844895487","display_name":null,"funder_award_id":"52272328","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/F4320323066","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1869778509","https://openalex.org/W2062458019","https://openalex.org/W2097545165","https://openalex.org/W2107338474","https://openalex.org/W2163590332","https://openalex.org/W2306644740","https://openalex.org/W2343781317","https://openalex.org/W2424778531","https://openalex.org/W2509583637","https://openalex.org/W2516923985","https://openalex.org/W2772194428","https://openalex.org/W2782414634","https://openalex.org/W2906257585","https://openalex.org/W2947168148","https://openalex.org/W2963906196","https://openalex.org/W2963914175","https://openalex.org/W2969040309","https://openalex.org/W2990568875","https://openalex.org/W2995649812","https://openalex.org/W2997958396","https://openalex.org/W3013376041","https://openalex.org/W3016826426","https://openalex.org/W3089418799","https://openalex.org/W3092124468","https://openalex.org/W3107209377","https://openalex.org/W3109395584","https://openalex.org/W3117023671","https://openalex.org/W3118587910","https://openalex.org/W3131008338","https://openalex.org/W3186450693","https://openalex.org/W3198398586","https://openalex.org/W3205464992","https://openalex.org/W3214950490","https://openalex.org/W4220795836","https://openalex.org/W4224989512","https://openalex.org/W4226239849","https://openalex.org/W4226316432","https://openalex.org/W4286373625","https://openalex.org/W4292559694","https://openalex.org/W4312550876","https://openalex.org/W4313484219","https://openalex.org/W4323567413","https://openalex.org/W4366999315","https://openalex.org/W4367182782","https://openalex.org/W4376457019","https://openalex.org/W4382118864","https://openalex.org/W4383172002","https://openalex.org/W4385380674","https://openalex.org/W4385518131","https://openalex.org/W4388286312","https://openalex.org/W4391769031","https://openalex.org/W4393153738","https://openalex.org/W6639086533","https://openalex.org/W6745935785","https://openalex.org/W6767342764","https://openalex.org/W6801880476","https://openalex.org/W6852378102"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4323768008"],"abstract_inverted_index":{"Detecting":[0],"surrounding":[1,23],"situations":[2],"and":[3,25,54,65,88,110,148,161,175,182,195],"reacting":[4],"accordingly":[5],"to":[6,37,62,78,94,123,138,165],"avoid":[7],"collisions":[8],"remains":[9],"a":[10,48,72],"challenging":[11],"task":[12,17],"for":[13,51],"autonomous":[14],"driving.":[15],"This":[16],"requires":[18],"predicting":[19],"the":[20,27,89,96,107,114,135,169,185,199,202],"trajectories":[21],"of":[22,30,130,187,201],"agents":[24],"assessing":[26],"potential":[28],"risk":[29,55,131,144,146],"future":[31],"situations,":[32],"which":[33],"can":[34,193],"be":[35],"difficult":[36],"achieve":[38],"solely":[39],"through":[40],"onboard":[41],"vehicle":[42],"devices.":[43],"Therefore,":[44],"this":[45],"paper":[46],"proposes":[47],"cooperative":[49],"architecture":[50],"trajectory":[52],"prediction":[53,74,126,136,177],"assessment":[56],"conducted":[57],"on":[58,168],"roadside":[59],"devices":[60],"(RSUs)":[61],"assist":[63],"Connected":[64],"Autonomous":[66],"Vehicles":[67],"(CAVs).":[68],"Firstly,":[69],"we":[70,133],"develop":[71],"segment-based":[73],"model":[75,101,158],"(SegNet)":[76],"tailored":[77],"hub":[79],"signalized":[80],"intersections.":[81],"Intersections":[82],"are":[83,92],"divided":[84],"into":[85],"multiple":[86],"segments,":[87,116],"Curvilinear":[90],"coordinates":[91],"utilized":[93],"indicate":[95],"geometric":[97],"road":[98],"features.":[99],"The":[100],"leverages":[102],"individual":[103],"interaction":[104],"cues":[105],"in":[106,113],"ego":[108],"segment":[109],"group":[111],"features":[112],"merging":[115],"while":[117],"also":[118],"incorporating":[119],"traffic":[120],"signal":[121],"information":[122],"generate":[124],"multimodal":[125],"results.":[127],"In":[128],"terms":[129],"assessment,":[132],"utilize":[134],"results":[137,153],"provide":[139],"hierarchical":[140],"assistance,":[141],"such":[142],"as":[143],"values,":[145],"maps,":[147],"reference":[149],"trajectories.":[150,178],"Offline":[151],"experimental":[152],"demonstrate":[154],"that":[155,191],"our":[156],"SegNet":[157],"achieves":[159],"competitive":[160],"well-balanced":[162],"performance":[163,186],"compared":[164],"state-of-the-art":[166],"methods":[167],"CitySim":[170],"Database,":[171],"with":[172,198],"more":[173],"accurate":[174],"smooth":[176],"Through":[179],"real-time":[180],"CARLA":[181],"SUMO":[183],"co-simulation,":[184],"assisted":[188],"CAVs":[189],"indicates":[190],"they":[192],"safely":[194],"effectively":[196],"navigate":[197],"support":[200],"proposed":[203],"architecture.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}