{"id":"https://openalex.org/W3021766186","doi":"https://doi.org/10.23919/acc45564.2020.9147924","title":"Online Parameter Estimation for Human Driver Behavior Prediction","display_name":"Online Parameter Estimation for Human Driver Behavior Prediction","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3021766186","doi":"https://doi.org/10.23919/acc45564.2020.9147924","mag":"3021766186"},"language":"en","primary_location":{"id":"doi:10.23919/acc45564.2020.9147924","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2005.02597","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017330847","display_name":"Raunak Bhattacharyya","orcid":"https://orcid.org/0000-0001-9254-8417"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Raunak P. Bhattacharyya","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA","[Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA]","institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043482412","display_name":"Ransalu Senanayake","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ransalu Senanayake","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA","[Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA]","institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109136341","display_name":"Kyle Brown","orcid":"https://orcid.org/0000-0003-0629-8285"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Brown","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA","[Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"[Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA]","institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"Stanford Intelligent Systems Laboratory, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017330847"],"corresponding_institution_ids":["https://openalex.org/I4210105785","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.1016,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.43681631,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"301","last_page":"306"},"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.9914000034332275,"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/interpretability","display_name":"Interpretability","score":0.899989128112793},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.7166396379470825},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7071931958198547},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6661080718040466},{"id":"https://openalex.org/keywords/closeness","display_name":"Closeness","score":0.6368029713630676},{"id":"https://openalex.org/keywords/black-box","display_name":"Black box","score":0.6173299551010132},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5929962396621704},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.476134330034256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4714537560939789},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3787198066711426},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20335659384727478},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11823374032974243}],"concepts":[{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.899989128112793},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.7166396379470825},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7071931958198547},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6661080718040466},{"id":"https://openalex.org/C2779545769","wikidata":"https://www.wikidata.org/wiki/Q5135364","display_name":"Closeness","level":2,"score":0.6368029713630676},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.6173299551010132},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5929962396621704},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.476134330034256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4714537560939789},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3787198066711426},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20335659384727478},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11823374032974243},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.23919/acc45564.2020.9147924","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2005.02597","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.02597","pdf_url":"https://arxiv.org/pdf/2005.02597","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3021766186","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2005.02597.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2005.02597","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2005.02597","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2005.02597","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.02597","pdf_url":"https://arxiv.org/pdf/2005.02597","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7599999904632568,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3021766186.pdf","grobid_xml":"https://content.openalex.org/works/W3021766186.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1493903612","https://openalex.org/W1917491357","https://openalex.org/W1965455100","https://openalex.org/W1978917517","https://openalex.org/W2030032449","https://openalex.org/W2056877664","https://openalex.org/W2135092312","https://openalex.org/W2152374007","https://openalex.org/W2328067583","https://openalex.org/W2336416123","https://openalex.org/W2519106163","https://openalex.org/W2580495915","https://openalex.org/W2587460705","https://openalex.org/W2594201198","https://openalex.org/W2612150182","https://openalex.org/W2626702320","https://openalex.org/W2800727637","https://openalex.org/W2896642734","https://openalex.org/W2897804989","https://openalex.org/W2949880758","https://openalex.org/W2963219401","https://openalex.org/W2963274939","https://openalex.org/W2967195040","https://openalex.org/W2990215072","https://openalex.org/W3104790740","https://openalex.org/W6680173660"],"related_works":["https://openalex.org/W3045870112","https://openalex.org/W3197202502","https://openalex.org/W2895994015","https://openalex.org/W3210655259","https://openalex.org/W1998524571","https://openalex.org/W2587489229","https://openalex.org/W2948003546","https://openalex.org/W2794590770","https://openalex.org/W2517512862","https://openalex.org/W3113883586","https://openalex.org/W2909736964","https://openalex.org/W2972853172","https://openalex.org/W2527692905","https://openalex.org/W2512065283","https://openalex.org/W3133497092","https://openalex.org/W2962728865","https://openalex.org/W2609292110","https://openalex.org/W2990048843","https://openalex.org/W3003585843","https://openalex.org/W3158528237"],"abstract_inverted_index":{"Driver":[0,77],"models":[1,21,42,107],"are":[2,22,43,54],"invaluable":[3],"for":[4],"planning":[5],"in":[6,15],"autonomous":[7],"vehicles":[8],"as":[9,11],"well":[10],"validating":[12],"their":[13,59],"safety":[14,132],"simulation.":[16],"Highly":[17],"parameterized":[18],"black-box":[19,105],"driver":[20,106,121],"very":[23],"expressive,":[24],"and":[25,35,45,99,104,128],"can":[26,46],"capture":[27],"nuanced":[28,80],"behavior.":[29,138],"However,":[30],"they":[31],"usually":[32],"lack":[33],"interpretability":[34],"sometimes":[36],"exhibit":[37],"unrealistic-":[38],"even":[39],"dangerous-behavior.":[40],"Rule-based":[41],"interpretable,":[44],"be":[47],"designed":[48],"to":[49,58,74,123],"guarantee":[50],"\"safe\"":[51],"behavior,":[52],"but":[53],"less":[55],"expressive":[56],"due":[57],"low":[60],"number":[61],"of":[62,119,133],"parameters.":[63],"In":[64],"this":[65],"article,":[66],"we":[67],"show":[68],"that":[69],"online":[70,92],"parameter":[71,93],"estimation":[72,94],"applied":[73],"the":[75,91,117,131,134],"Intelligent":[76],"Model":[78],"captures":[79],"individual":[81],"driving":[82,112,137],"behavior":[83],"while":[84],"providing":[85],"collision":[86],"free":[87],"trajectories.":[88],"We":[89,115],"solve":[90],"problem":[95],"using":[96],"particle":[97],"filtering,":[98],"benchmark":[100],"performance":[101],"against":[102],"rule-based":[103],"on":[108],"two":[109],"real":[110],"world":[111],"data":[113,126],"sets.":[114],"evaluate":[116],"closeness":[118],"our":[120],"model":[122],"ground":[124],"truth":[125],"demonstration":[127],"also":[129],"assess":[130],"resulting":[135],"emergent":[136]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
