{"id":"https://openalex.org/W3026143792","doi":"https://doi.org/10.5220/0009351500150026","title":"Cooperative Maneuvers of Highly Automated Vehicles at Urban Intersections: A Game-theoretic Approach","display_name":"Cooperative Maneuvers of Highly Automated Vehicles at Urban Intersections: A Game-theoretic Approach","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3026143792","doi":"https://doi.org/10.5220/0009351500150026","mag":"3026143792"},"language":"en","primary_location":{"id":"doi:10.5220/0009351500150026","is_oa":false,"landing_page_url":"https://doi.org/10.5220/0009351500150026","pdf_url":null,"source":{"id":"https://openalex.org/S4363608900","display_name":"Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2211.01633","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103035595","display_name":"Bj\u00f6rn Koopmann","orcid":"https://orcid.org/0000-0003-1982-8396"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Bj\u00f6rn Koopmann","raw_affiliation_strings":["OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany, --- Select a Country ---"],"affiliations":[{"raw_affiliation_string":"OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany, --- Select a Country ---","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025168499","display_name":"Stefan Puch","orcid":null},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Puch","raw_affiliation_strings":["OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany, --- Select a Country ---"],"affiliations":[{"raw_affiliation_string":"OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany, --- Select a Country ---","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036170155","display_name":"G\u00fcnter Ehmen","orcid":null},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G\u00fcnter Ehmen","raw_affiliation_strings":["OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany, --- Select a Country ---"],"affiliations":[{"raw_affiliation_string":"OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany, --- Select a Country ---","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089746112","display_name":"Martin Fr\u00e4nzle","orcid":"https://orcid.org/0000-0002-9138-8340"},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Fr\u00e4nzle","raw_affiliation_strings":["OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany, --- Select a Country ---"],"affiliations":[{"raw_affiliation_string":"OFFIS e.V., Escherweg 2, 26121 Oldenburg, Germany, --- Select a Country ---","institution_ids":["https://openalex.org/I202367325"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103035595"],"corresponding_institution_ids":["https://openalex.org/I202367325"],"apc_list":null,"apc_paid":null,"fwci":1.0386,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67687349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"15","last_page":"26"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9955999851226807,"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/T10698","display_name":"Transportation Planning and Optimization","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.9048266410827637},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7402511835098267},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6782711744308472},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6570402383804321},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.5337135791778564},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4487704634666443},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4447925090789795},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.44042977690696716},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.43802258372306824},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.41925618052482605},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4123457372188568},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33042582869529724},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.3231985867023468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22872686386108398},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22203966975212097},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.11134514212608337}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.9048266410827637},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7402511835098267},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6782711744308472},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6570402383804321},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.5337135791778564},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4487704634666443},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4447925090789795},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.44042977690696716},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.43802258372306824},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.41925618052482605},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4123457372188568},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33042582869529724},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3231985867023468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22872686386108398},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22203966975212097},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.11134514212608337},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.5220/0009351500150026","is_oa":false,"landing_page_url":"https://doi.org/10.5220/0009351500150026","pdf_url":null,"source":{"id":"https://openalex.org/S4363608900","display_name":"Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2211.01633","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.01633","pdf_url":"https://arxiv.org/pdf/2211.01633","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2211.01633","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2211.01633","pdf_url":"https://arxiv.org/pdf/2211.01633","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W134193224","https://openalex.org/W1667350540","https://openalex.org/W1814031283","https://openalex.org/W1972352696","https://openalex.org/W1976170943","https://openalex.org/W2105702545","https://openalex.org/W2137514195","https://openalex.org/W2310516540","https://openalex.org/W2769601620","https://openalex.org/W2788630232","https://openalex.org/W2895847534","https://openalex.org/W2903212089","https://openalex.org/W4249261707"],"related_works":["https://openalex.org/W2348909947","https://openalex.org/W4292672442","https://openalex.org/W2362101859","https://openalex.org/W2791431590","https://openalex.org/W2941610985","https://openalex.org/W4235810826","https://openalex.org/W2350688482","https://openalex.org/W2122135111","https://openalex.org/W2053575972","https://openalex.org/W4389170239"],"abstract_inverted_index":{"In":[0,47,120],"this":[1,121],"paper,":[2],"we":[3,113],"propose":[4],"an":[5,59],"approach":[6,171],"how":[7],"connected":[8,123],"and":[9,21,34,41,73,92,124,140],"highly":[10,125],"automated":[11,126],"vehicles":[12,33,127],"can":[13],"perform":[14],"cooperative":[15,51,144],"maneuvers":[16,52],"such":[17,38],"as":[18,39],"lane":[19],"changes":[20],"left-turns":[22],"at":[23,157],"urban":[24,54],"intersections":[25],"where":[26],"they":[27],"have":[28],"to":[29,49,65,71,97,135,149],"deal":[30],"with":[31,58,165],"human-operated":[32],"vulnerable":[35],"road":[36,90,155],"users":[37,91],"cyclists":[40],"pedestrians":[42],"in":[43,172],"so-called":[44],"mixed":[45],"traffic.":[46],"order":[48],"support":[50],"the":[53,69,75,78,83,98,109,137,158,170],"intersection":[55,70,84],"is":[56,148],"equipped":[57],"intelligent":[60],"controller":[61,85,111],"which":[62],"has":[63],"access":[64],"different":[66],"sensors":[67],"along":[68],"detect":[72],"predict":[74],"behavior":[76],"of":[77,169],"traffic":[79,151,174],"participants":[80],"involved.":[81],"Since":[82],"cannot":[86],"directly":[87],"control":[88,118],"all":[89],"-":[93,101],"not":[94],"least":[95],"due":[96],"legal":[99],"situation":[100],"driving":[102],"decisions":[103,142],"must":[104],"always":[105],"be":[106],"made":[107],"by":[108],"vehicle":[110],"itself,":[112],"focus":[114],"on":[115],"a":[116,166,173],"decentralized":[117],"paradigm.":[119],"context,":[122],"use":[128],"some":[129],"carefully":[130],"selected":[131],"game":[132],"theory":[133],"concepts":[134],"make":[136],"best":[138],"possible":[139],"clear":[141],"about":[143],"maneuvers.":[145],"The":[146],"aim":[147],"improve":[150],"efficiency":[152],"while":[153],"maintaining":[154],"safety":[156],"same":[159],"time.":[160],"Our":[161],"first":[162],"results":[163],"obtained":[164],"prototypical":[167],"implementation":[168],"simulation":[175],"are":[176],"promising.":[177]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
