{"id":"https://openalex.org/W4400810717","doi":"https://doi.org/10.1109/tvt.2024.3430815","title":"Raven: Vision-Based Connected Vehicle Safety Platform Using Infrastructure Sensing, 5G, and MEC","display_name":"Raven: Vision-Based Connected Vehicle Safety Platform Using Infrastructure Sensing, 5G, and MEC","publication_year":2024,"publication_date":"2024-07-19","ids":{"openalex":"https://openalex.org/W4400810717","doi":"https://doi.org/10.1109/tvt.2024.3430815"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3430815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3430815","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/A5019465951","display_name":"Kamran Ali","orcid":"https://orcid.org/0000-0001-6758-4061"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kamran Ali","raw_affiliation_strings":["General Motors R&amp;D, Warren, MI, USA"],"raw_orcid":"https://orcid.org/0000-0001-6758-4061","affiliations":[{"raw_affiliation_string":"General Motors R&amp;D, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101771582","display_name":"Bo Yu","orcid":"https://orcid.org/0000-0002-6775-5120"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bo Yu","raw_affiliation_strings":["General Motors R&amp;D, Warren, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-6775-5120","affiliations":[{"raw_affiliation_string":"General Motors R&amp;D, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112257149","display_name":"Vivek Vijaya Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vivek Vijaya Kumar","raw_affiliation_strings":["General Motors R&amp;D, Warren, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"General Motors R&amp;D, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029827048","display_name":"Hariharan Krishnan","orcid":"https://orcid.org/0000-0002-4324-2232"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Krishnan Hariharan","raw_affiliation_strings":["General Motors R&amp;D, Warren, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4324-2232","affiliations":[{"raw_affiliation_string":"General Motors R&amp;D, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055017931","display_name":"Fan Bai","orcid":"https://orcid.org/0000-0001-5125-5394"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fan Bai","raw_affiliation_strings":["General Motors R&amp;D, Warren, MI, USA"],"raw_orcid":"https://orcid.org/0000-0001-5125-5394","affiliations":[{"raw_affiliation_string":"General Motors R&amp;D, Warren, MI, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108327106","display_name":"Mohammad Rehan","orcid":null},"institutions":[{"id":"https://openalex.org/I163361683","display_name":"Cognizant (United States)","ror":"https://ror.org/036s7bw54","country_code":"US","type":"company","lineage":["https://openalex.org/I163361683"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad Rehan","raw_affiliation_strings":["Cognizant, Rochester, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognizant, Rochester, MI, USA","institution_ids":["https://openalex.org/I163361683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108957493","display_name":"Abhishek Vijay Kumar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abhishek Vijay Kumar","raw_affiliation_strings":["Danlaw Inc., Novi, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Danlaw Inc., Novi, MI, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5019465951"],"corresponding_institution_ids":["https://openalex.org/I118136607"],"apc_list":null,"apc_paid":null,"fwci":0.5811,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64847185,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"73","issue":"11","first_page":"17290","last_page":"17304"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9789999723434448,"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":0.9789999723434448,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9513999819755554,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vehicle-safety","display_name":"Vehicle safety","score":0.5776554346084595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5372607111930847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38803133368492126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3496459424495697},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32957524061203003},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.32429078221321106},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.31960421800613403}],"concepts":[{"id":"https://openalex.org/C2986542766","wikidata":"https://www.wikidata.org/wiki/Q2090494","display_name":"Vehicle safety","level":2,"score":0.5776554346084595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5372607111930847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38803133368492126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3496459424495697},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32957524061203003},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.32429078221321106},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.31960421800613403}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3430815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3430815","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":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1749494163","https://openalex.org/W2289592161","https://openalex.org/W2564628275","https://openalex.org/W2603203130","https://openalex.org/W2607816783","https://openalex.org/W2766495405","https://openalex.org/W2767011558","https://openalex.org/W2792220137","https://openalex.org/W2808210511","https://openalex.org/W2887117815","https://openalex.org/W2893929991","https://openalex.org/W2951890823","https://openalex.org/W2953901595","https://openalex.org/W2962808588","https://openalex.org/W2962955129","https://openalex.org/W2963526497","https://openalex.org/W2965843888","https://openalex.org/W2971456360","https://openalex.org/W2975800142","https://openalex.org/W2982013914","https://openalex.org/W3003703236","https://openalex.org/W3018757597","https://openalex.org/W3025244283","https://openalex.org/W3039759254","https://openalex.org/W3046256272","https://openalex.org/W3121065036","https://openalex.org/W3129493926","https://openalex.org/W3132239174","https://openalex.org/W3139596528","https://openalex.org/W3147042931","https://openalex.org/W3174488528","https://openalex.org/W3191327233","https://openalex.org/W4212877541","https://openalex.org/W4213350433","https://openalex.org/W4286904999","https://openalex.org/W4288348249","https://openalex.org/W4312080676","https://openalex.org/W4312526381","https://openalex.org/W4386951995","https://openalex.org/W6735636592","https://openalex.org/W6762481227","https://openalex.org/W6765599866","https://openalex.org/W6777046832"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"5G":[0,103,176],"cellular":[1,36,69,81,104],"communication":[2,105,177],"and":[3,25,45,51,83,94,106,120,135,150,188,206,223,248,268,275],"Multi-access":[4],"Edge":[5],"Computing":[6],"(MEC)":[7],"have":[8,230],"provided":[9],"a":[10,64,122,169],"new":[11],"opportunity":[12],"to":[13,71,110,179,232],"support":[14,46,72,111],"connected":[15,39,112,125,139,174],"vehicles":[16,49,190,228],"safety":[17,40,74,113,126,140,289],"applications":[18,75,141,155,165],"complementing":[19],"Dedicated":[20],"Short":[21],"Range":[22],"Communication":[23],"(DSRC)":[24],"Cellular":[26],"Vehicle-to-Everything":[27],"(C-V2X)":[28],"direct":[29],"communication.":[30],"One":[31],"major":[32,66],"benefit":[33],"of":[34,79,96,158,286],"using":[35,97],"networks":[37,70],"for":[38,56,68],"is":[41,173,251,278],"its":[42],"wide":[43],"deployment":[44],"in":[47,61,191,245],"the":[48,54,90,159,180,192,217,242,276,283,287],"today,":[50],"it":[52,225],"eliminates":[53],"need":[55],"additional":[57],"physical":[58],"radio":[59],"technologies":[60],"vehicles.":[62],"However,":[63],"few":[65],"considerations":[67],"real-time":[73],"are":[76,166],"latency,":[77],"reliability":[78],"communication,":[80],"costs,":[82],"scalability.":[84],"In":[85],"this":[86],"paper,":[87],"we":[88,118],"conduct":[89],"first":[91],"real-world":[92],"implementation":[93],"study":[95],"infrastructure-based":[98],"camera":[99,171,194],"sensing":[100],"along":[101,211],"with":[102,212,226],"MEC":[107,181],"computing":[108],"setup":[109],"applications.":[114,290],"To":[115],"achieve":[116],"this,":[117],"design":[119],"implement":[121],"vision-based":[123],"multilayer":[124],"platform":[127],"called":[128],"<italic":[129,160,184,233],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[130,161,185,234,253,258,264,270],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Raven</i>.":[131],"We":[132],"also":[133],"develop":[134],"evaluate":[136],"three":[137],"different":[138],"namely":[142],"Intersection":[143],"T-Bone":[144],"Vehicle":[145,153],"Crash":[146],"Warning,":[147],"Vehicle-in-blind-spot":[148],"Warning":[149,154],"Stopped/Disabled":[151],"Hazard":[152],"on":[156],"top":[157],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Raven</i>":[162,186],"platform.":[163],"These":[164],"enabled":[167],"via":[168,175],"roadside":[170],"that":[172,209,229],"link":[178],"server":[182],"where":[183],"detects":[187],"tracks":[189],"received":[193],"frames,":[195],"estimates":[196],"each":[197],"vehicle's":[198],"dynamics":[199],"such":[200],"as":[201],"tracking":[202],"ID,":[203],"position,":[204,246],"speed,":[205],"heading,":[207],"packages":[208],"information":[210],"other":[213,227],"parameters":[214],"required":[215],"by":[216],"Basic":[218],"Safety":[219],"Messages":[220],"(BSM)":[221],"standard,":[222],"shares":[224],"subscribed":[231],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Raven</i>\u2019s":[235],"service.":[236],"Our":[237],"experiments":[238],"show":[239],"promising":[240],"results:":[241],"median":[243],"error":[244],"velocity,":[247],"heading":[249],"accuracy":[250],"<inline-formula":[252,257,263,269],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[254,259,265,271],"notation=\"LaTeX\">$\\text{2.5}\\,\\text":[255],"{m}$</tex-math></inline-formula>,":[256],"notation=\"LaTeX\">$\\text{4.9}\\,\\text":[260],"{kph}$</tex-math></inline-formula>":[261],"(or":[262],"notation=\"LaTeX\">$\\text{3}\\,\\text":[266],"{mph}$</tex-math></inline-formula>),":[267],"notation=\"LaTeX\">$2.1^{\\circ":[272],"}$</tex-math></inline-formula>,":[273],"respectively,":[274],"driver":[277],"warned":[279],"in-time":[280],"during":[281],"all":[282],"test":[284],"runs":[285],"implemented":[288]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}