{"id":"https://openalex.org/W4404101395","doi":"https://doi.org/10.1109/tnnls.2024.3487838","title":"A Spatial\u2013Temporal Predictive Transformer Network for Level-3 Autonomous Vehicle Decision-Making","display_name":"A Spatial\u2013Temporal Predictive Transformer Network for Level-3 Autonomous Vehicle Decision-Making","publication_year":2024,"publication_date":"2024-11-06","ids":{"openalex":"https://openalex.org/W4404101395","doi":"https://doi.org/10.1109/tnnls.2024.3487838","pmid":"https://pubmed.ncbi.nlm.nih.gov/39504293"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2024.3487838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3487838","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5007825395","display_name":"Hongbo Gao","orcid":"https://orcid.org/0000-0002-5271-1280"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Gao","raw_affiliation_strings":["Department of Automation, School of Information Science and Technology, Institute of Advanced Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-5271-1280","affiliations":[{"raw_affiliation_string":"Department of Automation, School of Information Science and Technology, Institute of Advanced Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100652152","display_name":"Xiao Zheng","orcid":"https://orcid.org/0000-0001-7565-7072"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Zheng","raw_affiliation_strings":["School of Computer Science and Technology, Anhui University of Technology, Ma&#x2019;anshan, Anhui, China"],"raw_orcid":"https://orcid.org/0000-0001-7565-7072","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Anhui University of Technology, Ma&#x2019;anshan, Anhui, China","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634250","display_name":"Qingchao Liu","orcid":"https://orcid.org/0000-0001-6486-0999"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingchao Liu","raw_affiliation_strings":["Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu, China"],"raw_orcid":"https://orcid.org/0000-0001-6486-0999","affiliations":[{"raw_affiliation_string":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055495340","display_name":"Lin Zhou","orcid":"https://orcid.org/0000-0002-6428-7392"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Zhou","raw_affiliation_strings":["Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081848769","display_name":"Chao Huang","orcid":"https://orcid.org/0000-0003-3023-4388"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chao Huang","raw_affiliation_strings":["Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-3023-4388","affiliations":[{"raw_affiliation_string":"Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054656170","display_name":"Mingmao Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126203","display_name":"Hubei University of Automotive Technology","ror":"https://ror.org/039m95m06","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210126203"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingmao Hu","raw_affiliation_strings":["School of Automotive Engineering, Hubei University of Automotive Technology, Shiyan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Engineering, Hubei University of Automotive Technology, Shiyan, China","institution_ids":["https://openalex.org/I4210126203"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008156463","display_name":"Chengbo Wang","orcid":"https://orcid.org/0000-0003-0535-1769"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengbo Wang","raw_affiliation_strings":["Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-0535-1769","affiliations":[{"raw_affiliation_string":"Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031855986","display_name":"Keqiang Li","orcid":"https://orcid.org/0000-0002-9333-7416"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keqiang Li","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9333-7416","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-3400-0079","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076063841","display_name":"Deyi Li","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deyi Li","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6381,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.83123211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"36","issue":"7","first_page":"12228","last_page":"12242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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":0.9997000098228455,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9986000061035156,"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/exponential-smoothing","display_name":"Exponential smoothing","score":0.7131134867668152},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.6005436778068542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5906761288642883},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5088579654693604},{"id":"https://openalex.org/keywords/decision-making","display_name":"Decision-making","score":0.4104384779930115},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.33715277910232544},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32234829664230347},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20942136645317078},{"id":"https://openalex.org/keywords/operations-management","display_name":"Operations management","score":0.11231517791748047},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09338352084159851}],"concepts":[{"id":"https://openalex.org/C133710760","wikidata":"https://www.wikidata.org/wiki/Q775837","display_name":"Exponential smoothing","level":2,"score":0.7131134867668152},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6005436778068542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5906761288642883},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5088579654693604},{"id":"https://openalex.org/C122308676","wikidata":"https://www.wikidata.org/wiki/Q1331926","display_name":"Decision-making","level":3,"score":0.4104384779930115},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.33715277910232544},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32234829664230347},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20942136645317078},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.11231517791748047},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09338352084159851},{"id":"https://openalex.org/C2778813691","wikidata":"https://www.wikidata.org/wiki/Q1369832","display_name":"Purchasing","level":2,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tnnls.2024.3487838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3487838","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:39504293","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39504293","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null},{"id":"pmh:oai:dr.ntu.edu.sg:10356/218128","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/218128","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.550000011920929}],"awards":[{"id":"https://openalex.org/G1628849269","display_name":null,"funder_award_id":"32215010","funder_id":"https://openalex.org/F4320326870","funder_display_name":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body"},{"id":"https://openalex.org/G3283955804","display_name":null,"funder_award_id":"U20A20333","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4142107000","display_name":null,"funder_award_id":"51905223","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G742738582","display_name":null,"funder_award_id":"U20A20331","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7904022443","display_name":null,"funder_award_id":"U20A20225","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7909332369","display_name":null,"funder_award_id":"52225212","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8765369183","display_name":null,"funder_award_id":"52372413","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/F4320326870","display_name":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2074331253","https://openalex.org/W2090331353","https://openalex.org/W2149822156","https://openalex.org/W2579937995","https://openalex.org/W2760699433","https://openalex.org/W2886125012","https://openalex.org/W2902178419","https://openalex.org/W2942552875","https://openalex.org/W2947652593","https://openalex.org/W2963898834","https://openalex.org/W2983185323","https://openalex.org/W2991394327","https://openalex.org/W3000586224","https://openalex.org/W3005933620","https://openalex.org/W3032794635","https://openalex.org/W3044413741","https://openalex.org/W3107164117","https://openalex.org/W3123894539","https://openalex.org/W3163608763","https://openalex.org/W3173280915","https://openalex.org/W3177318507","https://openalex.org/W3184621130","https://openalex.org/W3202901056","https://openalex.org/W3210962293","https://openalex.org/W3212890323","https://openalex.org/W4249261707","https://openalex.org/W4256197684","https://openalex.org/W4318614060","https://openalex.org/W4365420215","https://openalex.org/W4366417275","https://openalex.org/W4366957357","https://openalex.org/W4372342073","https://openalex.org/W4381198920","https://openalex.org/W4394966817","https://openalex.org/W4396852533","https://openalex.org/W6797155008","https://openalex.org/W6798539989"],"related_works":["https://openalex.org/W4382138423","https://openalex.org/W2068015237","https://openalex.org/W3110660585","https://openalex.org/W4285210468","https://openalex.org/W2997404012","https://openalex.org/W4236520329","https://openalex.org/W4385790854","https://openalex.org/W2093101924","https://openalex.org/W2015983143","https://openalex.org/W250809596"],"abstract_inverted_index":{"This":[0,54],"study":[1,55],"explores":[2],"the":[3,26,31,69,78,95,104,114,117,121,127,136,156,167,176,185],"effect":[4],"of":[5,25,33,47,80,98,113,116,171,178,187],"takeover":[6],"time":[7],"(TOT)":[8],"on":[9,19,134,166,180],"decision-making":[10,96,137,181,195],"for":[11,40,64,193],"Level-3":[12],"autonomous":[13,188],"vehicles":[14],"(L3-AVs).":[15],"The":[16,100],"existing":[17],"research":[18],"L3-AV":[20],"lacks":[21,45],"an":[22,57],"in-depth":[23],"analysis":[24],"mechanisms":[27],"affecting":[28],"TOT,":[29],"ignores":[30],"importance":[32],"spatial":[34],"and":[35,43,67,86,144,155,160,169,190],"temporal":[36],"variations":[37],"in":[38,49,120],"features":[39],"TOT":[41,48,65,118,122,161,179],"prediction,":[42,66],"also":[44],"consideration":[46],"downstream":[50],"trajectory":[51],"planning":[52],"tasks.":[53],"proposed":[56],"exponential":[58],"smoothing":[59],"transformers":[60],"(ETS)":[61],"former":[62],"model":[63],"then,":[68],"spatial-temporal":[70],"predictive":[71],"transformer":[72],"(ST-Preformer)":[73],"was":[74,106,139],"employed":[75],"to":[76,94,108,141,152],"forecast":[77],"trajectories":[79],"surrounding":[81,157],"vehicles,":[82],"assess":[83],"lane":[84],"availability,":[85],"determine":[87],"lane-changing":[88],"probabilities.":[89],"Ultimately,":[90],"these":[91],"evaluations":[92],"contribute":[93],"process":[97],"L3-AVs.":[99],"findings":[101],"showed":[102],"that":[103],"ETSformer":[105],"able":[107,140],"explain":[109],"more":[110],"than":[111],"83%":[112],"characteristics":[115],"distribution":[119],"prediction":[123],"task,":[124],"effectively":[125],"reducing":[126],"absolute":[128],"percentage":[129],"error":[130],"by":[131],"0.7%,":[132],"based":[133],"which":[135],"framework":[138],"make":[142],"safe":[143],"comfortable":[145],"optimal":[146],"decisions.":[147],"Decision-making":[148],"is":[149],"closely":[150],"related":[151],"driving":[153,189],"conditions":[154],"traffic":[158],"state,":[159],"has":[162],"a":[163],"critical":[164],"impact":[165,177],"safety":[168,186],"stability":[170],"decision-making.":[172],"A":[173],"comprehensive":[174],"understanding":[175],"can":[182],"help":[183],"improve":[184],"provide":[191],"guidance":[192],"improving":[194],"techniques.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}
