{"id":"https://openalex.org/W4385879351","doi":"https://doi.org/10.3389/frobt.2023.1164950","title":"Impact analysis of cooperative perception on the performance of automated driving in unsignalized roundabouts","display_name":"Impact analysis of cooperative perception on the performance of automated driving in unsignalized roundabouts","publication_year":2023,"publication_date":"2023-08-15","ids":{"openalex":"https://openalex.org/W4385879351","doi":"https://doi.org/10.3389/frobt.2023.1164950","pmid":"https://pubmed.ncbi.nlm.nih.gov/37649809"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1164950","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3389/frobt.2023.1164950","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1164950/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1164950/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092649952","display_name":"Hazim Zainudin","orcid":null},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Hazim Zainudin","raw_affiliation_strings":["Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018044015","display_name":"Konstantinos Koufos","orcid":"https://orcid.org/0000-0001-5653-2186"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Konstantinos Koufos","raw_affiliation_strings":["Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070156026","display_name":"Graham Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Graham Lee","raw_affiliation_strings":["Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022143524","display_name":"Lintong Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lintong Jiang","raw_affiliation_strings":["Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068530392","display_name":"Mehrdad Dianati","orcid":"https://orcid.org/0000-0001-5119-4499"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mehrdad Dianati","raw_affiliation_strings":["Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Warwick Manufacturing Group (WMG) at The University of Warwick, Coventry, United Kingdom","institution_ids":["https://openalex.org/I39555362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5092649952"],"corresponding_institution_ids":["https://openalex.org/I39555362"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":1.6608,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83921252,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"1164950","last_page":"1164950"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":1.0,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8270636796951294},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6462115049362183},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5751776695251465},{"id":"https://openalex.org/keywords/driving-simulator","display_name":"Driving simulator","score":0.48259079456329346},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4725869596004486},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4378643333911896},{"id":"https://openalex.org/keywords/traffic-flow","display_name":"Traffic flow (computer networking)","score":0.4135976731777191},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3744555711746216},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1094098687171936}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8270636796951294},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6462115049362183},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5751776695251465},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.48259079456329346},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4725869596004486},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4378643333911896},{"id":"https://openalex.org/C207512268","wikidata":"https://www.wikidata.org/wiki/Q3074551","display_name":"Traffic flow (computer networking)","level":2,"score":0.4135976731777191},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3744555711746216},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1094098687171936},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3389/frobt.2023.1164950","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3389/frobt.2023.1164950","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1164950/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:37649809","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37649809","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10464950","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10464950","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10464950/pdf/frobt-10-1164950.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:a82a94c6b1e5429da93427c5f6a88131","is_oa":true,"landing_page_url":"https://doaj.org/article/a82a94c6b1e5429da93427c5f6a88131","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 10 (2023)","raw_type":"article"},{"id":"pmh:oai:wrap.warwick.ac.uk:177622","is_oa":false,"landing_page_url":"https://wrap.warwick.ac.uk/177622/1/WRAP-impact-analysis-cooperative-perception-performance-automated-driving-unsignalised-roundabouts-Koufos-2023.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400665","display_name":"Warwick Research Archive Portal (University of Warwick)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39555362","host_organization_name":"University of Warwick","host_organization_lineage":["https://openalex.org/I39555362"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:zenodo.org:11653057","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1164950","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics and AI, 10, (2023-08-15)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1164950","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3389/frobt.2023.1164950","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1164950/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385879351.pdf","grobid_xml":"https://content.openalex.org/works/W4385879351.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1585463092","https://openalex.org/W1869778509","https://openalex.org/W2120857249","https://openalex.org/W2243721295","https://openalex.org/W2465390606","https://openalex.org/W2513710103","https://openalex.org/W2538971299","https://openalex.org/W2555895109","https://openalex.org/W2890713050","https://openalex.org/W2921392100","https://openalex.org/W2963516975","https://openalex.org/W2970287756","https://openalex.org/W2996759437","https://openalex.org/W3008564049","https://openalex.org/W3015334626","https://openalex.org/W3130068711","https://openalex.org/W3156346125","https://openalex.org/W3167487857","https://openalex.org/W3195808870","https://openalex.org/W3201532118","https://openalex.org/W3209274649","https://openalex.org/W3210402482","https://openalex.org/W4212833601","https://openalex.org/W4280630819","https://openalex.org/W4285505707","https://openalex.org/W4392478596","https://openalex.org/W6639086533","https://openalex.org/W6690919663","https://openalex.org/W6728569122","https://openalex.org/W6802336767","https://openalex.org/W6803589536"],"related_works":["https://openalex.org/W2258033839","https://openalex.org/W4297884099","https://openalex.org/W3203668668","https://openalex.org/W4391055430","https://openalex.org/W3009214786","https://openalex.org/W3214769583","https://openalex.org/W2116812645","https://openalex.org/W1980239608","https://openalex.org/W2395327451","https://openalex.org/W2113168155"],"abstract_inverted_index":{"This":[0,27,85,127],"paper":[1,65],"reports":[2],"the":[3,12,19,32,48,68,71,77,90,131,138,143,147],"implementation":[4],"and":[5,57,62,82,92,112,140],"results":[6],"of":[7,11,14,21,34,43,70,88,103,133,137,142],"a":[8,44,101],"simulation-based":[9],"analysis":[10],"impact":[13],"cloud/edge-enabled":[15],"cooperative":[16,39,93],"perception":[17,40,58],"on":[18,53],"performance":[20,33,106],"automated":[22,35,49,95],"driving":[23,36,96],"in":[24],"unsignalized":[25],"roundabouts.":[26],"is":[28,128],"achieved":[29],"by":[30,38,130],"comparing":[31],"assisted":[37],"to":[41,120],"that":[42],"baseline":[45,91],"system,":[46],"where":[47],"vehicle":[50],"relies":[51],"only":[52],"its":[54],"onboard":[55],"sensing":[56],"for":[59,108,124],"motion":[60],"planning":[61],"control.":[63],"The":[64],"first":[66],"provides":[67],"descriptions":[69,87],"implemented":[72],"simulation":[73,118,134],"model,":[74],"which":[75],"integrates":[76],"SUMO":[78],"road":[79],"traffic":[80,109],"generator":[81],"CARLA":[83],"simulator.":[84],"includes":[86],"both":[89],"perception-assisted":[94],"systems.":[97],"We":[98],"then":[99],"define":[100],"set":[102],"relevant":[104,122],"key":[105],"indicators":[107],"efficiency,":[110],"safety,":[111],"ride":[113],"comfort,":[114],"as":[115,117],"well":[116],"scenarios":[119],"collect":[121],"data":[123],"our":[125],"analysis.":[126],"followed":[129],"description":[132],"scenarios,":[135],"presentation":[136],"results,":[139],"discussions":[141],"insights":[144],"learned":[145],"from":[146],"results.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-22T08:09:32.410652","created_date":"2025-10-10T00:00:00"}