{"id":"https://openalex.org/W3187170253","doi":"https://doi.org/10.1109/tvt.2021.3102251","title":"Collision-Probability-Aware Human-Machine Cooperative Planning for Safe Automated Driving","display_name":"Collision-Probability-Aware Human-Machine Cooperative Planning for Safe Automated Driving","publication_year":2021,"publication_date":"2021-08-10","ids":{"openalex":"https://openalex.org/W3187170253","doi":"https://doi.org/10.1109/tvt.2021.3102251","mag":"3187170253"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2021.3102251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3102251","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5081848769","display_name":"Chao Huang","orcid":"https://orcid.org/0000-0003-3023-4388"},"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":"Chao Huang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055911707","display_name":"Peng Hang","orcid":"https://orcid.org/0000-0002-5843-0594"},"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":"Peng Hang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-5843-0594","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038147203","display_name":"Zhongxu Hu","orcid":"https://orcid.org/0000-0001-8236-7903"},"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":"Zhongxu Hu","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-8236-7903","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072073374","display_name":"Chen Lv","orcid":"https://orcid.org/0000-0001-6897-4512"},"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":"Chen Lv","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6897-4512","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.4916,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.89053052,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"70","issue":"10","first_page":"9752","last_page":"9763"},"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":0.9955999851226807,"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/T10524","display_name":"Traffic control and management","score":0.9944999814033508,"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/trajectory","display_name":"Trajectory","score":0.7137555480003357},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.5763538479804993},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5589724183082581},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.48340359330177307},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4785243272781372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4534594416618347},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4238021969795227},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41233742237091064},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4008467197418213},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38523486256599426},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3436647653579712},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32434093952178955},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3215939998626709},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23924413323402405},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11585435271263123}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7137555480003357},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.5763538479804993},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5589724183082581},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.48340359330177307},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4785243272781372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4534594416618347},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4238021969795227},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41233742237091064},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4008467197418213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38523486256599426},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3436647653579712},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32434093952178955},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3215939998626709},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23924413323402405},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11585435271263123},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2021.3102251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3102251","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1520813427","https://openalex.org/W1592601589","https://openalex.org/W1658960529","https://openalex.org/W1935067847","https://openalex.org/W1968582771","https://openalex.org/W1976201601","https://openalex.org/W2032712781","https://openalex.org/W2060075193","https://openalex.org/W2084835622","https://openalex.org/W2090006809","https://openalex.org/W2106432970","https://openalex.org/W2141051954","https://openalex.org/W2502584513","https://openalex.org/W2567129700","https://openalex.org/W2749122408","https://openalex.org/W2753710570","https://openalex.org/W2765795137","https://openalex.org/W2794237953","https://openalex.org/W2810856628","https://openalex.org/W2887143516","https://openalex.org/W2911846823","https://openalex.org/W2913181250","https://openalex.org/W2962963952","https://openalex.org/W2968044973","https://openalex.org/W2991372584","https://openalex.org/W3001592287","https://openalex.org/W3012478636","https://openalex.org/W3036144047","https://openalex.org/W3044345353","https://openalex.org/W3088632941","https://openalex.org/W3089420797","https://openalex.org/W3105200428","https://openalex.org/W3107164117","https://openalex.org/W3111872484","https://openalex.org/W3135683069","https://openalex.org/W3151175129","https://openalex.org/W3155711479","https://openalex.org/W3195632635","https://openalex.org/W4242373827","https://openalex.org/W6605295560","https://openalex.org/W6631209646","https://openalex.org/W6636924704","https://openalex.org/W6640471175","https://openalex.org/W6695664954","https://openalex.org/W6775168941","https://openalex.org/W6787633583"],"related_works":["https://openalex.org/W2504004674","https://openalex.org/W1987679298","https://openalex.org/W2963177394","https://openalex.org/W4317634134","https://openalex.org/W4313359513","https://openalex.org/W2981729160","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"investigate":[4],"a":[5,22,39,128],"novel":[6,40,87],"collision":[7,125],"probability-aware":[8],"human-machine":[9,77,88,142],"cooperative":[10,89],"planning":[11,91],"and":[12,51,98,105,126,138],"tracking":[13],"method":[14],"for":[15],"enhancing":[16],"safety":[17,134],"of":[18,64,135],"automated":[19],"vehicles.":[20],"Firstly,":[21],"long-term":[23],"trajectory":[24,84,90,110],"prediction":[25],"is":[26,57,79,96,120],"obtained":[27],"by":[28],"using":[29],"Gaussian":[30],"mixture":[31],"models":[32],"with":[33],"vehicle":[34,137],"historical":[35],"data.":[36],"After":[37],"that,":[38],"risk":[41,62],"assessment":[42],"system":[43,55],"based":[44],"on":[45,70],"the":[46,52,61,65,71,76,83,102,116,133,136],"dynamic":[47],"potential":[48],"field":[49],"(DPF)":[50],"fuzzy":[53],"inference":[54],"(FIS)":[56],"proposed":[58,97,117],"to":[59,100,122],"evaluate":[60],"level":[63],"human":[66,73],"driver's":[67,103],"behaviors.":[68],"Based":[69],"assessed":[72],"driving":[74],"risk,":[75],"cooperation":[78],"activated":[80],"adaptively":[81],"during":[82,109,141],"planning.":[85,111],"A":[86],"algorithm,":[92],"named":[93],"as":[94],"HM-$p$RRT,":[95],"used":[99],"incorporate":[101],"intent":[104],"automation's":[106],"corrective":[107],"actions":[108],"Testing":[112],"results":[113],"show":[114],"that":[115],"HM-$p$RRT":[118],"algorithm":[119],"able":[121],"simultaneously":[123],"mitigate":[124],"provide":[127],"safe":[129],"trajectory,":[130],"effectively":[131],"ensuring":[132],"reducing":[139],"conflicts":[140],"interactions.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}