{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T20:54:25Z","timestamp":1778100865248,"version":"3.51.4"},"reference-count":130,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51625503"],"award-info":[{"award-number":["51625503"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61790561"],"award-info":[{"award-number":["61790561"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Intell. Transport. Syst. Mag."],"published-print":{"date-parts":[[2021]]},"DOI":"10.1109\/mits.2019.2907633","type":"journal-article","created":{"date-parts":[[2020,1,7]],"date-time":"2020-01-07T20:46:22Z","timestamp":1578429982000},"page":"71-91","source":"Crossref","is-referenced-by-count":64,"title":["Threat Assessment Techniques in Intelligent Vehicles: A Comparative Survey"],"prefix":"10.1109","volume":"13","author":[{"given":"Yang","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Keqiang","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bernhard","family":"Morys","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuyue","family":"Pan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianqiang","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1016\/S0001-4575(00)00019-1"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/S0001-4575(98)00026-8"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1068\/p120417"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1080\/00140138108924868"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1287\/trsc.13.1.36"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1068\/p050437"},{"key":"ref37","author":"svensson","year":"1998","journal-title":"A Method for Analysing the Traffic Process in A Safety Perspective"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1080\/00140139608964482"},{"key":"ref35","first-page":"109","article-title":"Time-to-collision and collision avoidance systems","author":"van der horst","year":"0","journal-title":"Proc ICTCT Workshop"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/0001-4575(83)90068-4"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2191542"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2419196"},{"key":"ref29","first-page":"2890","article-title":"Study on forward collision warning system adapted to driver characteristics and road environment","author":"nakaoka","year":"0","journal-title":"Proc Int Conf Control Automation and Systems"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1504\/IJVAS.2018.096154"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1115\/1.1386788"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2007.09.003"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2262097"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2010.5625185"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2015.7225713"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2006.883115"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1007\/s11771-017-3553-2"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2046037"},{"key":"ref50","first-page":"1219","article-title":"An analysis of tire traction properties and their influence on vehicle dynamic performance","author":"dugoff","year":"0","journal-title":"Proc Int Automobile Safety Conf"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2010.5625077"},{"key":"ref59","first-page":"1","article-title":"Development of a collision avoidance system","author":"seiler","year":"0","journal-title":"SAE Intl Congress and Exposition"},{"key":"ref58","first-page":"119","article-title":"Forward-looking collision warning system performance guidelines","author":"wilson","year":"0","journal-title":"SAE Intl Congress and Exposition"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1016\/0389-4304(95)94875-N"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1016\/0389-4304(94)90216-X"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2011.5940482"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2010.5625287"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2015.09.011"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2016.7535468"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/VTC.2002.1002718"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2017.2658662"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ARSO.2017.8025190"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.7249\/CT463"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.tra.2015.04.003"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1186\/s40648-014-0001-z"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2522507"},{"key":"ref7","article-title":"Towards a functional system architecture for automated vehicles","author":"ulbrich","year":"2017"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2048314"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2158424"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1299\/jmtl.1.170"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2015.05.014"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385585"},{"key":"ref42","author":"jansson","year":"2005","journal-title":"Collision avoidance theory with application to automotive collision mitigation"},{"key":"ref41","first-page":"316","article-title":"Development of a performance-based approach for a rear-end collision warning and avoidance system for automobiles","author":"yang","year":"0","journal-title":"Proc IEEE Intelligent Vehicles Symp"},{"key":"ref44","first-page":"968","article-title":"A new threat assessment measure for collision avoidance systems","author":"zhang","year":"0","journal-title":"Proc IEEE Conf Intelligent Transportation Systems"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2004.09.003"},{"key":"ref127","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2008.4562953"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2013.107"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.3141\/1803-07"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2016.7535389"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2419196"},{"key":"ref129","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696982"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1049\/iet-its.2013.0024"},{"key":"ref128","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.241"},{"key":"ref70","first-page":"429","article-title":"Collision risk evaluation index based on deceleration for collision avoidance (first report): Proposal of a new index to evaluate collision risk against forward obstacles","volume":"30","author":"hiraoka","year":"2009","journal-title":"Rev Automot Eng"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2157342"},{"key":"ref130","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2012.10.004"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2010.2097594"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2013.2287343"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2009.2018966"},{"key":"ref78","first-page":"618","article-title":"Context-based pedestrian path prediction","volume":"8694","author":"kooij","year":"0","journal-title":"Proc European Conf Computer Vision (ECCV)"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/ICARCV.2008.4795553"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1049\/ic:19980211"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2006.1689627"},{"key":"ref61","author":"brunson","year":"2003","journal-title":"Alert algorithm development program NHTSA rear-end collision alert algorithm"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164401"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.3390\/app7050457"},{"key":"ref65","article-title":"Highway traffic accident avoidance system","author":"spiess","year":"1997"},{"key":"ref66","author":"keifer","year":"1999","journal-title":"Development and validation of functional definitions and evaluation procedures for collision warning\/avoidance systems"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2004.1384441"},{"key":"ref68","article-title":"Threat level identification and quantifying system","author":"engelman","year":"2006"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-85729-085-4"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2008.4621250"},{"key":"ref1","author":"singh","year":"2015","journal-title":"Critical Reasons for Crashes Investigated in the National Motor Vehicle Crash Causation Survey"},{"key":"ref109","article-title":"Modeling discretionary cut-in risks using naturalistic driving data","author":"xie","year":"2017","journal-title":"Transp Res F Traffic Psychol Behav"},{"key":"ref95","first-page":"328","article-title":"Autonomous braking control system for pedestrian collision avoidance by using potential field","author":"matsumi","year":"0","journal-title":"Proc IFAC Symp Advanced in Automotive Control"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2015.323"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1524\/auto.2012.1046"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363094"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1080\/00423110701543452"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385491"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543783"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995717"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/ISDA.2006.253908"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2604240"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1115\/1.2192835"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.20485\/jsaeijae.7.AVEC14_53"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2016.10.003"},{"key":"ref111","year":"2017"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1016\/0001-4575(82)90007-0"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2502325"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2014.01.018"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2401837"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.12988\/ams.2013.13175"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2014.p0628"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2012.2227474"},{"key":"ref11","article-title":"Decision Making for Collision Avoidance Systems","author":"jansson","year":"0","journal-title":"SAE 2002 World Congress & Exhibition"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2573921"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2016.2531686"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2014.6957722"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995949"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2014.2357038"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.894653"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2015.07.007"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2498841"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1016\/S0001-4575(02)00022-2"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2016.7795597"},{"key":"ref18","author":"hayward","year":"1972","journal-title":"Near miss determination through use of a scale of danger"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2017.8317839"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1016\/j.trf.2009.02.003"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1080\/00423110412331282850"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2537878"},{"key":"ref114","first-page":"1","article-title":"Pre-safe in rear-end collision situations","author":"bogenrieder","year":"0","journal-title":"Proc Int Conf Enhanced Safety of Vehicles"},{"key":"ref113","article-title":"Crash probability estimation via quantifying driver hazard perception","author":"li","year":"2017","journal-title":"Accid Anal Prev"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995802"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2007.909241"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2293771"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2013.2280766"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.1994.639475"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2016.7795975"},{"key":"ref122","first-page":"3958","article-title":"Combined group and exclusive sparsity for deep neural networks","author":"yoon","year":"0","journal-title":"Proc Int Conf Machine Learning"},{"key":"ref123","first-page":"2273","article-title":"Evaluation of forward collision avoidance system using driver&#x2019;s hazard perception","author":"li","year":"0","journal-title":"Proc IEEE Conf Intelligent Transportation Systems"},{"key":"ref85","author":"thorsson","year":"2016","journal-title":"Neural networks for collision avoidance"},{"key":"ref86","article-title":"Uncertainty-aware reinforcement learning for collision avoidance","author":"kahn","year":"2017"},{"key":"ref87","first-page":"11","article-title":"A generalized potential field approach to obstacle avoidance control","author":"krogh","year":"0","journal-title":"Proc SME Conf Robotics Research The Next Five Years and Beyond"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"}],"container-title":["IEEE Intelligent Transportation Systems Magazine"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/5117645\/9586333\/08951238.pdf?arnumber=8951238","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:52:55Z","timestamp":1652194375000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8951238\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"references-count":130,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/mits.2019.2907633","relation":{},"ISSN":["1939-1390","1941-1197"],"issn-type":[{"value":"1939-1390","type":"print"},{"value":"1941-1197","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]}}}