{"id":"https://openalex.org/W4285230563","doi":"https://doi.org/10.1109/tvt.2022.3186976","title":"Intention Prediction and Mixed Strategy Nash Equilibrium-Based Decision-Making Framework for Autonomous Driving in Uncontrolled Intersection","display_name":"Intention Prediction and Mixed Strategy Nash Equilibrium-Based Decision-Making Framework for Autonomous Driving in Uncontrolled Intersection","publication_year":2022,"publication_date":"2022-06-29","ids":{"openalex":"https://openalex.org/W4285230563","doi":"https://doi.org/10.1109/tvt.2022.3186976"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2022.3186976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3186976","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/A5019242097","display_name":"Jiangfeng Nan","orcid":"https://orcid.org/0000-0003-2126-1210"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiangfeng Nan","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113724748","display_name":"Weiwen Deng","orcid":"https://orcid.org/0000-0002-3736-9368"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwen Deng","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing, China","Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I4210165198","https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050833745","display_name":"Bowen Zheng","orcid":"https://orcid.org/0000-0002-2762-4441"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bowen Zheng","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019242097"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":3.521,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.93224921,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"71","issue":"10","first_page":"10316","last_page":"10326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9987000226974487,"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/T10370","display_name":"Traffic and Road Safety","score":0.9922000169754028,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.7226269841194153},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.6994645595550537},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5106142163276672},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4811800420284271},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32796230912208557},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.2262696623802185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2210541069507599}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7226269841194153},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.6994645595550537},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5106142163276672},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4811800420284271},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32796230912208557},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.2262696623802185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2210541069507599}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2022.3186976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3186976","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":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G6505405042","display_name":null,"funder_award_id":"U1864201","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1486382483","https://openalex.org/W1512098439","https://openalex.org/W1952987468","https://openalex.org/W2022460235","https://openalex.org/W2025217226","https://openalex.org/W2060135607","https://openalex.org/W2123050817","https://openalex.org/W2140466491","https://openalex.org/W2188263270","https://openalex.org/W2513170225","https://openalex.org/W2516923985","https://openalex.org/W2517688734","https://openalex.org/W2562817597","https://openalex.org/W2579911499","https://openalex.org/W2741086815","https://openalex.org/W2806373172","https://openalex.org/W2897949313","https://openalex.org/W2963625099","https://openalex.org/W2964193755","https://openalex.org/W2993206324","https://openalex.org/W3005048145","https://openalex.org/W3046448500","https://openalex.org/W3128196514","https://openalex.org/W3186450693","https://openalex.org/W3194094562","https://openalex.org/W3199115257","https://openalex.org/W3208122016","https://openalex.org/W4214827684","https://openalex.org/W4239510810","https://openalex.org/W4253711439","https://openalex.org/W4300995080","https://openalex.org/W6620037403","https://openalex.org/W6751060025"],"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/W4396696052"],"abstract_inverted_index":{"Decision-making":[0],"in":[1,10,21],"uncontrolled":[2,22],"intersection":[3,23,68,233],"is":[4,38,117,123,137,158],"one":[5],"of":[6,62,76,102,110,128,141,154],"the":[7,26,63,67,73,82,88,94,99,111,114,129,142,148,155,162,194,197,201,208,216,222,232],"main":[8],"challenges":[9],"urban":[11],"autonomous":[12],"driving.":[13],"This":[14,168],"paper":[15],"proposed":[16,223],"a":[17,39,103,124,138,184],"new":[18],"decision-making":[19,224],"framework":[20,37,225],"based":[24],"on":[25],"intention":[27,54,84],"prediction":[28],"method":[29,169],"and":[30,49,78,85,132,145,235],"Mixed":[31,163],"Strategy":[32,164],"Nash":[33,165],"Equilibrium":[34,166],"theory.":[35,167],"The":[36,52],"three-stage":[40],"method:":[41],"target":[42,64,104,130,143],"vehicle":[43,65,131,144,157,217],"motion":[44,50],"prediction,":[45],"driving":[46,53,83,149,195],"mode":[47,150],"decision,":[48],"planning.":[51],"(left":[55],"turn,":[56,58],"right":[57],"or":[59,152,175,186],"go":[60],"straight)":[61],"at":[66],"can":[69,170,226],"be":[70],"predicted":[71,100],"using":[72,161],"combination":[74],"algorithm":[75,205],"GMM-HMM":[77],"SVM.":[79],"According":[80,192],"to":[81,97,119,179,190,193,206],"road":[86],"structure,":[87],"trajectory":[89,101],"fitting":[90],"module":[91,199],"would":[92],"use":[93],"Bezier":[95],"curve":[96],"fit":[98],"vehicle.":[105,134],"Furthermore,":[106],"combined":[107],"with":[108],"trajectories":[109],"ego":[112,133,146,156,228],"vehicle,":[113,147],"S-T":[115],"diagram":[116],"used":[118],"judge":[120],"whether":[121],"there":[122,136],"spatio-temporal":[125],"conflict":[126,139],"point":[127,140],"If":[135],"(\u2018yield\u2019":[151],"\u2018cross\u2019)":[153],"selected":[159],"by":[160,215],"not":[171],"only":[172],"avoid":[173,183],"premature":[174],"unnecessary":[176],"deceleration":[177,188],"due":[178,189],"conservation":[180],"but":[181],"also":[182],"collision":[185],"violent":[187],"greed.":[191],"mode,":[196],"planning":[198],"uses":[200],"model":[202],"predictive":[203],"control":[204],"determine":[207],"optimal":[209],"acceleration":[210],"strategy.":[211],"Have":[212],"been":[213],"verified":[214],"test,":[218],"it":[219],"indicates":[220],"that":[221],"make":[227],"vehicles":[229],"pass":[230],"through":[231],"safely":[234],"comfortably.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}