{"id":"https://openalex.org/W3214633105","doi":"https://doi.org/10.1109/tvt.2021.3127008","title":"Pedestrian Collision Risk Assessment Based on State Estimation and Motion Prediction","display_name":"Pedestrian Collision Risk Assessment Based on State Estimation and Motion Prediction","publication_year":2021,"publication_date":"2021-11-10","ids":{"openalex":"https://openalex.org/W3214633105","doi":"https://doi.org/10.1109/tvt.2021.3127008","mag":"3214633105"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2021.3127008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3127008","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/A5044211780","display_name":"Lin Zhang","orcid":"https://orcid.org/0000-0002-9358-0264"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Zhang","raw_affiliation_strings":["Postdoctoral Station of Mechanical Engineering, School of Automotive Studies, Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-9358-0264","affiliations":[{"raw_affiliation_string":"Postdoctoral Station of Mechanical Engineering, School of Automotive Studies, Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100614605","display_name":"Yuan Kang","orcid":"https://orcid.org/0000-0003-0399-5528"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Yuan","raw_affiliation_strings":["College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0399-5528","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063286550","display_name":"Hongqing Chu","orcid":"https://orcid.org/0000-0002-8015-9788"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongqing Chu","raw_affiliation_strings":["School of Automotive Studies, Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8015-9788","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003126186","display_name":"Yanjun Huang","orcid":"https://orcid.org/0000-0003-3133-8031"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Huang","raw_affiliation_strings":["School of Automotive Studies, Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3133-8031","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Clean Energy Automotive Engineering Center, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634116","display_name":"Haitao Ding","orcid":"https://orcid.org/0000-0003-2729-2907"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Ding","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China"],"raw_orcid":"https://orcid.org/0000-0003-2729-2907","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101639872","display_name":"Jiawei Yuan","orcid":"https://orcid.org/0000-0002-3958-2883"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Yuan","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China"],"raw_orcid":"https://orcid.org/0000-0002-3958-2883","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074996561","display_name":"Hong Chen","orcid":"https://orcid.org/0000-0002-1724-8649"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Chen","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1724-8649","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3247,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.88121953,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"71","issue":"1","first_page":"98","last_page":"111"},"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/T10370","display_name":"Traffic and Road Safety","score":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991999864578247,"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/collision","display_name":"Collision","score":0.8429177403450012},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.757537305355072},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6965675950050354},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.625175952911377},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5927510857582092},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5390509963035583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4943873882293701},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.46855196356773376},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4455283582210541},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4276343286037445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37881630659103394},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19025754928588867},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1291031837463379},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.11430624127388},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08182457089424133}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.8429177403450012},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.757537305355072},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6965675950050354},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.625175952911377},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5927510857582092},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5390509963035583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4943873882293701},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.46855196356773376},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4455283582210541},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4276343286037445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37881630659103394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19025754928588867},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1291031837463379},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.11430624127388},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08182457089424133},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2021.3127008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3127008","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7099999785423279}],"awards":[{"id":"https://openalex.org/G8332081220","display_name":null,"funder_award_id":"61903153","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8369633618","display_name":null,"funder_award_id":"62073152","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":39,"referenced_works":["https://openalex.org/W1936415111","https://openalex.org/W1976840195","https://openalex.org/W1994774201","https://openalex.org/W2005717879","https://openalex.org/W2026113532","https://openalex.org/W2035560063","https://openalex.org/W2071288975","https://openalex.org/W2084835622","https://openalex.org/W2088803835","https://openalex.org/W2101415982","https://openalex.org/W2104923345","https://openalex.org/W2106432970","https://openalex.org/W2110006698","https://openalex.org/W2116565126","https://openalex.org/W2120096422","https://openalex.org/W2120133705","https://openalex.org/W2123050817","https://openalex.org/W2134230709","https://openalex.org/W2139783272","https://openalex.org/W2152377847","https://openalex.org/W2158642273","https://openalex.org/W2159900645","https://openalex.org/W2165009952","https://openalex.org/W2286744228","https://openalex.org/W2290616587","https://openalex.org/W2417591941","https://openalex.org/W2507230881","https://openalex.org/W2513177073","https://openalex.org/W2554050924","https://openalex.org/W2730403429","https://openalex.org/W2739929997","https://openalex.org/W2785634791","https://openalex.org/W2799059904","https://openalex.org/W2800381837","https://openalex.org/W2900586385","https://openalex.org/W2964160397","https://openalex.org/W2969294606","https://openalex.org/W6659586255","https://openalex.org/W6716514926"],"related_works":["https://openalex.org/W2392100589","https://openalex.org/W2512789322","https://openalex.org/W2899977359","https://openalex.org/W1819938260","https://openalex.org/W1630669003","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"Active":[0],"pedestrian":[1,103,156],"collision":[2,57,67,72,126,144,150],"avoidance":[3],"(APCA)":[4],"systems":[5],"can":[6],"significantly":[7],"reduce":[8],"road":[9],"injuries":[10],"and":[11,21,38,45,70,91,94,118,139,141,170,190],"thus":[12],"have":[13,27],"attracted":[14],"considerable":[15],"attention":[16],"from":[17],"both":[18],"the":[19,22,77,80,102,124,133,137,142,153,160,163,184,196,204,207],"automobile":[20],"transportation":[23],"industries.":[24],"Numerous":[25],"studies":[26],"focused":[28],"on":[29,113,175],"APCA;":[30],"however,":[31],"it":[32],"remains":[33],"challenging":[34],"to":[35,132,148],"model":[36,90,97,117],"variable":[37],"complex":[39],"scenarios":[40,194],"in":[41,98,166,192],"a":[42,54,62,66,71,87,92,114,119,167],"safe,":[43],"efficient":[44],"low-cost":[46],"way.":[47],"For":[48],"this":[49,51],"purpose,":[50],"paper":[52],"proposes":[53],"novel":[55],"multipedestrian":[56,168,200],"risk":[58,73],"assessment":[59,74],"framework":[60],"comprising":[61],"motion":[63,78,104],"prediction":[64],"module,":[65],"checking":[68],"module":[69],"module.":[75],"First,":[76],"of":[79,136,206],"ego":[81],"vehicle":[82,178],"(EV)":[83],"is":[84,105,129,146,157,187],"predicted":[85,134],"through":[86],"constant-acceleration":[88,120],"(V-CA)":[89],"constant-turn-rate":[93],"constant-velocity":[95,115],"(V-CTRV)":[96],"different":[99],"scenarios.":[100],"Next,":[101],"estimated":[106],"using":[107],"Kalman":[108],"filter":[109],"(KF)":[110],"approaches":[111],"based":[112],"(PCV)":[116],"(P-CA)":[121],"model.":[122],"Then,":[123],"potential":[125],"area":[127],"(PCA)":[128],"defined":[130],"according":[131],"motions":[135],"EV":[138],"pedestrian,":[140],"time-to":[143],"(TTC)":[145],"selected":[147],"conduct":[149],"checking.":[151],"Finally,":[152],"most":[154],"dangerous":[155],"identified":[158],"as":[159],"target":[161],"with":[162],"minimum":[164],"TTC":[165],"scenario,":[169],"field":[171],"tests":[172],"are":[173],"conducted":[174],"an":[176],"autonomous":[177],"platform.":[179],"Comparative":[180],"simulations":[181,202],"indicate":[182],"that":[183],"P-CA-based":[185],"KF":[186],"more":[188],"accurate":[189],"robust":[191],"variable-velocity":[193],"than":[195],"P-CV-based":[197],"KF.":[198],"Furthermore,":[199],"scenario":[201],"validate":[203],"effectiveness":[205],"proposed":[208],"framework.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
