{"id":"https://openalex.org/W4414054719","doi":"https://doi.org/10.1109/tvt.2025.3607513","title":"Safe Tactical Decision-Making for Autonomous Vehicles Considering Uncertainties in Deep Learning-Based Visual Perception","display_name":"Safe Tactical Decision-Making for Autonomous Vehicles Considering Uncertainties in Deep Learning-Based Visual Perception","publication_year":2025,"publication_date":"2025-09-08","ids":{"openalex":"https://openalex.org/W4414054719","doi":"https://doi.org/10.1109/tvt.2025.3607513"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3607513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3607513","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":true,"oa_status":"green","oa_url":"https://eprints.gla.ac.uk/view/author/60417.html>","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086491465","display_name":"Dachuan Li","orcid":"https://orcid.org/0000-0002-7267-9951"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dachuan Li","raw_affiliation_strings":["Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7267-9951","affiliations":[{"raw_affiliation_string":"Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112968063","display_name":"Zijian Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijian Huang","raw_affiliation_strings":["Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037660521","display_name":"Qi Hao","orcid":"https://orcid.org/0000-0002-2792-5965"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Hao","raw_affiliation_strings":["Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2792-5965","affiliations":[{"raw_affiliation_string":"Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027569449","display_name":"Dezong Zhao","orcid":"https://orcid.org/0000-0002-9848-372X"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dezong Zhao","raw_affiliation_strings":["James Watt School of Engineering, University of Glasgow, Glasgow, U.K","James Watt School of Engineering, University of Glasgow, Glasgow, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-9848-372X","affiliations":[{"raw_affiliation_string":"James Watt School of Engineering, University of Glasgow, Glasgow, U.K","institution_ids":["https://openalex.org/I7882870"]},{"raw_affiliation_string":"James Watt School of Engineering, University of Glasgow, Glasgow, United Kingdom","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028260055","display_name":"Weipeng Cao","orcid":"https://orcid.org/0000-0003-2414-6066"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weipeng Cao","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2414-6066","affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004131475","display_name":"Amr Tolba","orcid":"https://orcid.org/0000-0003-3439-6413"},"institutions":[{"id":"https://openalex.org/I28022161","display_name":"King Saud University","ror":"https://ror.org/02f81g417","country_code":"SA","type":"education","lineage":["https://openalex.org/I28022161"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Amr Tolba","raw_affiliation_strings":["Computer Science Department, Community College, King Saud University, Riyadh, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0003-3439-6413","affiliations":[{"raw_affiliation_string":"Computer Science Department, Community College, King Saud University, Riyadh, Saudi Arabia","institution_ids":["https://openalex.org/I28022161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076776322","display_name":"Joel J. P. C. Rodrigues","orcid":"https://orcid.org/0000-0001-8657-3800"},"institutions":[{"id":"https://openalex.org/I4210147594","display_name":"Universidade do Estado do Amazonas","ror":"https://ror.org/04j5z3x06","country_code":"BR","type":"education","lineage":["https://openalex.org/I4210147594"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Joel J. P. C. Rodrigues","raw_affiliation_strings":["Amazonas State University, Manaus, Brazil","Amazonas State University, Manaus, AM, Brazil"],"raw_orcid":"https://orcid.org/0000-0001-8657-3800","affiliations":[{"raw_affiliation_string":"Amazonas State University, Manaus, Brazil","institution_ids":["https://openalex.org/I4210147594"]},{"raw_affiliation_string":"Amazonas State University, Manaus, AM, Brazil","institution_ids":["https://openalex.org/I4210147594"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5522,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.9083709,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"75","issue":"3","first_page":"3578","last_page":"3594"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9463000297546387,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9404000043869019,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.8022000193595886},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6269999742507935},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4921000003814697},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.40459999442100525},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.35179999470710754},{"id":"https://openalex.org/keywords/probabilistic-method","display_name":"Probabilistic method","score":0.3167000114917755},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.2865000069141388}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.8022000193595886},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6269999742507935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5200999975204468},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4921000003814697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4487000107765198},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41510000824928284},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.413100004196167},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.40459999442100525},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.35179999470710754},{"id":"https://openalex.org/C60782215","wikidata":"https://www.wikidata.org/wiki/Q3333679","display_name":"Probabilistic method","level":3,"score":0.3167000114917755},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.2865000069141388},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.27619999647140503},{"id":"https://openalex.org/C32230216","wikidata":"https://www.wikidata.org/wiki/Q7882499","display_name":"Uncertainty quantification","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.2615000009536743},{"id":"https://openalex.org/C2777488183","wikidata":"https://www.wikidata.org/wiki/Q6900510","display_name":"Safety monitoring","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25110000371932983},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2025.3607513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3607513","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"},{"id":"pmh:oai:eprints.gla.ac.uk:362238","is_oa":true,"landing_page_url":"https://eprints.gla.ac.uk/view/author/60417.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Articles"}],"best_oa_location":{"id":"pmh:oai:eprints.gla.ac.uk:362238","is_oa":true,"landing_page_url":"https://eprints.gla.ac.uk/view/author/60417.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1386990879","display_name":null,"funder_award_id":"52272419","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2507992696","display_name":null,"funder_award_id":"2025A1515011259","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1897960459","https://openalex.org/W2002567531","https://openalex.org/W4313231634","https://openalex.org/W180818492","https://openalex.org/W4212996970","https://openalex.org/W2033349420","https://openalex.org/W243736014","https://openalex.org/W4318185075","https://openalex.org/W2964529313","https://openalex.org/W1974005862"],"abstract_inverted_index":{"Tactical":[0],"decision-making":[1,42,121,135],"plays":[2],"a":[3,78],"key":[4],"role":[5],"in":[6,38,173,186],"ensuring":[7],"the":[8,23,35,46,59,64,69,123,162],"operational":[9],"safety":[10,118,176],"of":[11,61,88,105,120,175],"autonomous":[12],"vehicle":[13],"(AV)":[14],"systems.":[15],"Recent":[16],"environment":[17],"perception":[18,90,115,147,191],"techniques":[19],"are":[20],"built":[21],"upon":[22],"deep":[24],"learning":[25],"(DL)":[26],"approaches":[27,172],"and":[28,80,91,102,117,145,152,169,177,183],"utilize":[29,45],"probabilistic":[30,48,150],"representations":[31],"to":[32,50,57,67],"quantitatively":[33],"capture":[34],"inherent":[36],"uncertainties":[37,60,87,104,148],"networks.":[39],"The":[40],"downstream":[41],"module":[43],"shall":[44],"perceived":[47],"information":[49],"derive":[51,153],"proper":[52],"maneuver":[53],"decisions.":[54,155],"However,":[55],"how":[56],"translate":[58],"DL":[62,114],"between":[63,113],"two":[65],"stages":[66],"manage":[68],"risk":[70],"remains":[71],"an":[72,108,133],"open":[73],"problem.":[74],"This":[75],"paper":[76],"proposes":[77],"holistic":[79],"interpretable":[81],"framework":[82,164],"that":[83,140,161],"can":[84,141,165],"explicitly":[85],"represent":[86],"DL-based":[89],"generate":[92],"safe":[93],"maneuvers":[94],"by":[95],"accounting":[96],"for":[97],"such":[98],"uncertainties.":[99,192],"By":[100],"quantifying":[101],"propagating":[103],"perceptions":[106],"networks,":[107],"explicit":[109],"link":[110],"is":[111],"established":[112],"uncertainty":[116],"utility":[119],"via":[122],"Adaptive":[124],"Likelihood":[125],"mechanism.":[126],"Built":[127],"on":[128],"this":[129],"basis,":[130],"we":[131],"propose":[132],"uncertainty-aware":[134],"approach":[136],"(<italic":[137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">PUALD-Net</i>)":[139],"incorporates":[142],"both":[143],"regression":[144],"classification":[146],"into":[149],"reasoning":[151],"risk-bounding":[154],"Real-world":[156],"field":[157],"test":[158],"results":[159],"demonstrate":[160],"proposed":[163],"effectively":[166],"ensure":[167],"safety,":[168],"outperforms":[170],"existing":[171],"terms":[174],"driving":[178],"capability":[179],"metrics":[180],"(Infraction":[181],"Rate":[182],"Driving":[184],"Score)":[185],"adverse":[187],"scenarios":[188],"incurring":[189],"high":[190]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}