Publications

                                        @inproceedings{ding2020cmts,
                                            author = {Ding, Wenhao and Xu, Mengdi and Zhao, Ding},
                                            booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
                                            title = {{CMTS: Conditional Multiple Trajectory Synthesizer for Generating Safety-critical Driving Scenarios}},
                                            year = {2020}
                                        } 
                                    

                                            @article{zhang2019ageneralframework,
                                            title={A General Framework of Learning Multi-Vehicle Interaction Patterns from Videos},
                                            author={Zhang, Chengyuan and Zhu, Jiacheng and Wang, Wenshua and Zhao, Ding},
                                            journal={arXiv preprint arXiv:1907.07315},
                                            year={2019}
                                            }
                                        

                                            @article{guokalidindi2019modeling,
                                            title={Modeling Multi-Vehicle Interaction Scenarios Using Gaussian Random Field},
                                            author={Guo, Yaohui and Kalidindi, Vinay Varma and Arief, Mansur and Wang, Wenshuo and Zhu, Jiacheng and Zhao, Ding},
                                            journal={arXiv preprint arXiv:1906.10307},
                                            year={2019}
                                            }
                                        

                                            @InProceedings{Arief_2019_CVPR_Workshops,
                                            author = {Arief, Hasan and Arief, Mansur and Bhat, Manoj and Indahl, Ulf and Tveite, Havard and Zhao, Ding},
                                            title = {Density-Adaptive Sampling for Heterogeneous Point Cloud Object Segmentation in Autonomous Vehicle Applications},
                                            booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
                                            month = {June},
                                            year = {2019}
                                        

                                            @ARTICLE{8463586, 
                                            author={M. {Shen} and J. {Sun} and H. {Peng} and D. {Zhao}}, 
                                            journal={IEEE Transactions on Intelligent Transportation Systems}, 
                                            title={Improving Localization Accuracy in Connected Vehicle Networks Using Rao–Blackwellized Particle Filters: Theory, Simulations, and Experiments}, 
                                            year={2019}, 
                                            volume={20}, 
                                            number={6}, 
                                            pages={2255-2266}, 
                                            keywords={Global navigation satellite system;Receivers;Roads;Satellites;Correlation;Estimation;Atmospheric measurements;Localization;GNSS;connected vehicles;particle filter;Rao-Blackwellized}, 
                                            doi={10.1109/TITS.2018.2866232}, 
                                            ISSN={1524-9050}, 
                                            month={June},}
                                        

                                            @inproceedings{ding2019multi,
                                            author = {Ding, Wenhao and Wang, Wenshuo and Zhao, Ding},
                                            booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)},
                                            title = {{Multi-Vehicle Trajectories Generation for Vehicle-to-Vehicle Encounters}},
                                            year = {2019}
                                            } 
                                        

@inproceedings{liu2019should,
author = {Liu, Zuxin and Arief, Mansur and Zhao, Ding},
booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)},
title = {{Where Should We Place LiDARs on the Autonomous Vehicle?-An Optimal Design Approach}},
year = {2019}
}
                                        

@article{huang2019assessing,
  title={Evaluation Uncertainty in Data-Driven Self-Driving Testing},
  author={Huang, Zhiyuan and Arief, Mansur and Lam, Henry and Zhao, Ding},
  journal={arXiv preprint arXiv:1904.09306},
  year={2019}
}
                                        

@inproceedings{mou2019optimal,
author = {Mou, Shenyu and Chang, Yan and Wang, Wenshuo and Zhao, Ding},
booktitle = {Transportation Research Board (TRB)},
title = {{An Optimal LiDAR Configuration Approach for Self-Driving Cars}},
year = {2019}
}
                                        

@inproceedings{huang2018designing,
  title={Designing importance samplers to simulate machine learning predictors via optimization},
  author={Huang, Zhiyuan and Lam, Henry and Zhao, Ding},
  booktitle={2018 Winter Simulation Conference (WSC)},
  pages={1730--1741},
  year={2018},
  organization={IEEE}
}
                                        

@inproceedings{huang2018rare,
author = {Huang, Zhiyuan and Lam, Henry and Zhao, Ding},
booktitle = {2018 Winter Simulation Conference (WSC)},
organization = {IEEE},
pages = {1826--1837},
title = {{Rare-event simulation without structural information: a learning-based approach}},
year = {2018}
}
                                        

@inproceedings{zhu2018tempt,
author = {Zhu, Jiacheng and Wang, Wenshuo and Zhao, Ding},
booktitle = {2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
title = {{A Tempt to Unify Heterogeneous Driving Databases using Traffic Primitives}},
year = {2018}
}
                                        

@inproceedings{arief2018accelerated,
author = {Arief, Mansur and Glynn, Peter and Zhao, Ding},
booktitle = {2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
title = {{An Accelerated Approach to Safely and Efficiently Test Pre-produced Autonomous Vehicles on Public Streets}},
year = {2018}
}
                                        

@inproceedings{gong2018evaluation,
author = {Gong, Xun and Guo, Yaohui and Feng, Yiheng and Sun, Jing and Zhao, Ding},
booktitle = {2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
title = {{Evaluation of the Energy Efficiency in a Mixed Traffic with Automated Vehicles and Human Controlled Vehicles}},
year = {2018}
}
                                        

@inproceedings{chang2018fuel,
  title={Fuel Economy and Emission Testing for Connected and Automated Vehicles Using Real-world Driving Datasets},
  author={Chang, Yan and Yang, Weiqing and Zhao, Ding},
  journal={arXiv preprint arXiv:1805.07643},
  year={2018}
}
                                        

@inproceedings{huang2018synthesis,
author = {Huang, Zhiyuan and Arief, Mansur and Lam, Henry and Zhao, Ding},
booktitle = {2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
organization = {IEEE},
pages = {2000--2005},
title = {{Synthesis of Different Autonomous Vehicles Test Approaches}},
year = {2018}
}
                                        

@Article{Yang2018,
author="Yang, DianGe and Jiang, Kun and Zhao, Ding and Yu, ChunLei and Cao, Zhong and Xie, ShiChao and Xiao, ZhongYang and Jiao, XinYu and Wang, SiJia and Zhang, Kai",
title="Intelligent and connected vehicles: Current status and future perspectives",
journal="Science China Technological Sciences",
year="2018",
month="Oct",
day="01",
volume="61",
number="10",
pages="1446--1471",
issn="1869-1900",
doi="10.1007/s11431-017-9338-1",
url="https://doi.org/10.1007/s11431-017-9338-1"
}
                                        

@article{shen2018impact,
author = {Shen, Macheng and Sun, Jing and Zhao, Ding},
journal = {IEEE Transactions on Intelligent Transportation Systems},
number = {10},
pages = {3220--3229},
title = {{The Impact of Road Configuration in V2V-based Cooperative Localization: Mathematical Analysis and Real-world Evaluation}},
volume = {19},
year = {2018}
}
                                        

@ARTICLE{8408761, 
author={W. {Wang} and D. {Zhao} and W. {Han} and J. {Xi}}, 
journal={IEEE Transactions on Vehicular Technology}, 
title={A Learning-Based Approach for Lane Departure Warning Systems With a Personalized Driver Model}, 
year={2018}, 
volume={67}, 
number={10}, 
pages={9145-9157}, 
keywords={alarm systems;driver information systems;Gaussian processes;hidden Markov models;learning (artificial intelligence);road safety;road vehicles;learning-based approach;lane departure warning systems;personalized driver model;driver correction;lane-departure-prediction systems;unintended lane-departure behaviors;lane-keeping behavior;Gaussian mixture model;hidden Markov model;online model-based prediction algorithm;correction behavior;basic time-to-lane-crossing method;false-warning rate;TLC-directional sequence of piecewise lateral slopes method;TLC-DSPLS method;vehicle trajectory;Vehicles;Hidden Markov models;Predictive models;Trajectory;Prediction algorithms;Roads;Mechanical engineering;Learning-based approach;lane departure warning system;Gaussian mixture model;hidden Markov model;personalized driver model}, 
doi={10.1109/TVT.2018.2854406}, 
ISSN={0018-9545}, 
month={Oct},}
                                        

@ARTICLE{8116682, 
author={Z. {Huang} and H. {Lam} and D. J. {LeBlanc} and D. {Zhao}}, 
journal={IEEE Transactions on Intelligent Transportation Systems}, 
title={Accelerated Evaluation of Automated Vehicles Using Piecewise Mixture Models}, 
year={2018}, 
volume={19}, 
number={9}, 
pages={2845-2855}, 
keywords={driver information systems;importance sampling;road safety;road traffic control;road vehicles;statistical analysis;evaluation time;accelerated evaluation concept;piecewise mixture distribution models;single parametric distribution models;forward collision control system;cutin lane changes;cutin vehicles;evaluation process;highly automated vehicles;public roads;time-consuming;modified statistics;importance sampling theory;Michigan safety pilot model deployment program;Acceleration;Maximum likelihood estimation;Vehicle crash testing;Safety;Life estimation;Exponential distribution;Google;Automated vehicles;testing;evaluation;safety}, 
doi={10.1109/TITS.2017.2766172}, 
ISSN={1524-9050}, 
month={Sep.},}
                                        

@inproceedings{mo2018extracting,
author = {Mo, Zhaobin and Li, Sisi and Yang, Diange and Zhao, Ding},
booktitle = {14th International Symposium on Advanced Vehicle Control},
title = {{Extracting V2V Encountering Scenarios from Naturalistic Driving Database}},
year = {2018}
}
                                        

@inproceedings{huang2018versatile,
author = {Huang, Zhiyuan and Guo, Yaohui and Arief, Mansur and Lam, Henry and Zhao, Ding},
booktitle = {2018 Annual American Control Conference (ACC)},
organization = {IEEE},
pages = {4796--4802},
title = {{A versatile approach to evaluating and testing automated vehicles based on kernel methods}},
year = {2018}
}
                                        

@inproceedings{li2018clustering,
author = {Li, Sisi and Wang, Wenshuo and Mo, Zhaobin and Zhao, Ding},
booktitle = {IEEE Intelligent Vehicles Symposium},
title = {{Clustering of Naturalistic Driving Encounters Using Unsupervised Learning}},
year = {2018}
}
                                        

@article{wang2018extracting,
author = {Wang, Wenshuo and Zhao, Ding},
journal = {IEEE Robotics and Automation Letters},
number = {2},
pages = {1223--1229},
publisher = {IEEE},
title = {{Extracting traffic primitives directly from naturalistically logged data for self-driving applications}},
volume = {3},
year = {2018}
}
                                        

@article{wang2018learning2,
author = {Wang, Wenshuo and Xi, Junqiang and Zhao, Ding},
journal = {IEEE Transactions on Vehicular Technology},
number = {5},
pages = {3887--3899},
publisher = {IEEE},
title = {{Learning and inferring a driver's braking action in car-following scenarios}},
volume = {67},
year = {2018}
}
                                        

@article{zhao2018accelerated,
author = {Zhao, Ding and Huang, Xianan and Peng, Huei and Lam, Henry and LeBlanc, David J},
journal = {IEEE Transactions on Intelligent Transportation Systems},
number = {3},
pages = {733--744},
publisher = {IEEE},
title = {{Accelerated evaluation of automated vehicles in car-following maneuvers}},
volume = {19},
year = {2018}
}
                                        

@article{zhao2018interpenetrating,
  title={Interpenetrating Cooperative Localization in Dynamic Connected Vehicle Networks},
  author={Zhao, Huajing and Mo, Zhaobin and Shen, Macheng and Sun, Jing and Zhao, Ding},
  journal={arXiv preprint arXiv:1804.10064},
  year={2018}
}
                                        

@inproceedings{chen2018xcity,
  title={An" Xcity" Optimization Approach to Designing Proving Grounds for Connected and Autonomous Vehicles},
  author={Chen, Rui and Arief, Mansur and Zhao, Ding},
  journal={arXiv preprint arXiv:1808.03089},
  year={2018}
}
                                        

@article{wang2018clustering,
author = {Wang, Wenshuo and Ramesh, Aditya and Zhao, Ding},
journal = {arXiv preprint arXiv:1807.08415},
title = {{Clustering of driving scenarios using connected vehicle datasets}},
year = {2018}
}
                                        

@article{wang2018driving,
author = {Wang, Wenshuo and Xi, Junqiang and Zhao, Ding},
journal = {IEEE Transactions on Intelligent Transportation Systems},
publisher = {IEEE},
title = {{Driving style analysis using primitive driving patterns with bayesian nonparametric approaches}},
year = {2018}
}
                                        

@article{wang2018understanding,
author = {Wang, Wenshuo and Zhang, Weiyang and Zhao, Ding},
journal = {arXiv preprint arXiv:1807.10422},
title = {{Understanding V2V Driving Scenarios through Traffic Primitives}},
year = {2018}
}
                                        

@inproceedings{huang2017sequential,
author = {Huang, Zhiyuan and Lam, Henry and Zhao, Ding},
booktitle = {2017 Winter Simulation Conference (WSC)},
organization = {IEEE},
pages = {3078--3089},
title = {{Sequential experimentation to efficiently test automated vehicles}},
year = {2017}
}
                                        

@inproceedings{zhao2017trafficnet,
author = {Zhao, Ding and Guo, Yaohui and Jia, Yunhan Jack},
booktitle = {2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)},
organization = {IEEE},
pages = {1--8},
title = {{Trafficnet: An open naturalistic driving scenario library}},
year = {2017}
}
                                        

@inproceedings{shen2017optimization,
author = {Shen, Macheng and Sun, Jing and Zhao, Ding},
booktitle = {Intelligent Transportation Systems (ITSC), 2017 IEEE 20th International Conference on},
organization = {IEEE},
pages = {1--7},
title = {{Optimization of vehicle connections in v2v-based cooperative localization}},
year = {2017}
}
                                        

@inproceedings{huang2017accelerated,
author = {Huang, Zhiyuan and Lam, Henry and Zhao, Ding},
booktitle = {2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)},
organization = {IEEE},
pages = {933--938},
title = {{An accelerated testing approach for automated vehicles with background traffic described by joint distributions}},
year = {2017}
}
                                        

@inproceedings{huang2017towards,
author = {Huang, Zhiyuan and Lam, Henry and Zhao, Ding},
booktitle = {2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)},
organization = {IEEE},
pages = {1--6},
title = {{Towards affordable on-track testing for autonomous vehicle-A Kriging-based statistical approach}},
year = {2017}
}
                                        

@article{huang2017empirical,
author = {Huang, Xianan and Zhao, Ding and Peng, Huei},
journal = {IEEE Transactions on Intelligent Transportation Systems},
number = {10},
pages = {2619--2628},
title = {{Empirical study of dsrc performance based on safety pilot model deployment data}},
volume = {18},
year = {2017}
}
                                        

@article{wang2017evaluation,
author = {Wang, Wenshuo and Zhao, Ding},
journal = {IEEE Transactions on Intelligent Vehicles},
number = {3},
pages = {221--232},
publisher = {IEEE},
title = {{Evaluation of lane departure correction systems using a regenerative stochastic driver model}},
volume = {2},
year = {2017}
}
                                        

@inproceedings{chen2017evaluation,
author = {Chen, Baiming and Zhao, Ding and Peng, Huei},
booktitle = {2017 IEEE Intelligent Vehicles Symposium (IV)},
organization = {IEEE},
pages = {1679--1685},
title = {{Evaluation of automated vehicles encountering pedestrians at unsignalized crossings}},
year = {2017}
}
                                        

@inproceedings{zhao2017evaluation,
author = {Zhao, Ding and Wang, Wenshuo and LeBlanc, David J},
booktitle = {2017 IEEE Intelligent Vehicles Symposium (IV)},
organization = {IEEE},
pages = {926--932},
title = {{Evaluation of a semi-autonomous lane departure correction system using naturalistic driving data}},
year = {2017}
}
                                        

@inproceedings{wang2017analysis,
author = {Wang, Xinpeng and Zhao, Ding and Peng, Huei and LeBlanc, David J},
booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
pages = {218--223},
title = {{Analysis of unprotected intersection left-turn conflicts based on naturalistic driving data}},
year = {2017}
}
                                        

@inproceedings{jia2017towards,
author = {Jia, Yunhan Jack and Zhao, Ding and Chen, Qi Alfred and Mao, Z Morley},
booktitle = {2017 IEEE Intelligent Vehicles Symposium (IV)},
organization = {IEEE},
pages = {705--711},
title = {{Towards secure and safe appified automated vehicles}},
year = {2017}
}
                                        

@article{wang2017much,
author = {Wang, Wenshuo and Liu, Chang and Zhao, Ding},
journal = {IEEE Transactions on Intelligent Vehicles},
number = {2},
pages = {85--98},
publisher = {IEEE},
title = {{How much data are enough? a statistical approach with case study on longitudinal driving behavior}},
volume = {2},
year = {2017}
}
                                        

@INPROCEEDINGS{7989024, 
author={Z. {Huang} and D. {Zhao} and H. {Lam} and D. J. {LeBlanc} and H. {Peng}}, 
booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)}, 
title={Evaluation of automated vehicles in the frontal cut-in scenario — An enhanced approach using piecewise mixture models}, 
year={2017}, 
volume={}, 
number={}, 
pages={197-202}, 
keywords={importance sampling;road safety;road vehicles;automated vehicles;frontal cut-in scenario;piecewise mixture models;AV;public roads;accelerated evaluation;importance sampling theory;piecewise mixture distribution models;single distribution models;vehicle safety;lane change scenarios;cut-in vehicles;naturalistic driving lane changes;Acceleration;Maximum likelihood estimation;Monte Carlo methods;Safety;Gaussian distribution;Probability density function;Exponential distribution;Automated vehicle;active safety;lane change;cut-in;evaluation;test}, 
doi={10.1109/ICRA.2017.7989024}, 
ISSN={}, 
month={May},}
                                        

@inproceedings{wang2017development,
author = {Wang, Wenshuo and Zhao, Ding and Xi, Junqiang and LeBlanc, David J and Hedrick, J Karl},
booktitle = {American Control Conference (ACC), 2017},
title = {{Development and Evaluation of Two Learning-Based Personalized Driver Models for Car-Following Behaviors}},
year = {2017}
}
                                        

@ARTICLE{7534875, 
author={D. {Zhao} and H. {Lam} and H. {Peng} and S. {Bao} and D. J. {LeBlanc} and K. {Nobukawa} and C. S. {Pan}}, 
journal={IEEE Transactions on Intelligent Transportation Systems}, 
title={Accelerated Evaluation of Automated Vehicles Safety in Lane-Change Scenarios Based on Importance Sampling Techniques}, 
year={2017}, 
volume={18}, 
number={3}, 
pages={595-607}, 
keywords={entropy;importance sampling;intelligent transportation systems;road accidents;road safety;road traffic;accelerated evaluation;automated vehicles safety;lane-change scenarios;importance sampling techniques;safety-critical scenarios;vehicle motions;frontal collision;human-controlled vehicles;lane changes;University of Michigan;Safety Pilot Model Deployment Program;cut-in scenarios;skewed statistics;human driver behaviors;cross-entropy method;optimal skewing parameters;Vehicles;Vehicle crash testing;Acceleration;Safety;Databases;Data models;Monte Carlo methods;Active safety systems;automated vehicles (AVs);autonomous emergency braking (AEB);crash avoidance;importance sampling (IS);lane change}, 
doi={10.1109/TITS.2016.2582208}, 
ISSN={1524-9050}, 
month={March},}
                                        

@article{shen2017semi,
author = {Shen, Macheng and Zhao, Huajing and Sun, Jing and Zhao, Ding},
journal = {arXiv preprint arXiv:1709.05457},
title = {{Semi-Interpenetrating Cooperative Localization in Connected Vehicle Networks}},
year = {2017}
}
                                        

@inproceedings{shen2016enhancement,
author = {Shen, Macheng and Zhao, Ding and Sun, Jing},
booktitle = {2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)},
organization = {IEEE},
pages = {834--840},
title = {{Enhancement of low-cost gnss localization in connected vehicle networks using rao-blackwellized particle filters}},
year = {2016}
}
                                        

@article{zhuang2016optimal,
author = {Zhuang, Weichao and Zhang, Xiaowu and Zhao, Ding and Peng, Huei and Wang, Lianmou},
journal = {International Journal of Automotive Technology},
number = {2},
pages = {299--309},
publisher = {The Korean Society of Automotive Engineers},
title = {{Optimal design of three-planetary-gear power-split hybrid powertrains}},
volume = {17},
year = {2016}
}
                                        

@article{nobukawa2016gap,
author = {Nobukawa, Kazutoshi and Bao, Shan and LeBlanc, David J and Zhao, Ding and Peng, Huei and Pan, Christopher S},
journal = {IEEE transactions on intelligent transportation systems},
number = {3},
pages = {772--781},
publisher = {IEEE},
title = {{Gap acceptance during lane changes by large-truck drivers-An image-based analysis}},
volume = {17},
year = {2016}
}
                                        

@inproceedings{zhao2016accelerated,
author = {Zhao, D and Peng, H and Bao, S and Nobukawa, K and LeBlanc, D and Pan, C S},
booktitle = {The Dynamics of Vehicles on Roads and Tracks: Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics (IAVSD 2015)},
pages = {287},
title = {{Accelerated evaluation of automated vehicles using extracted naturalistic driving data}},
year = {2016}
}
                                        

@inproceedings{zhao2015accelerated,
author = {Zhao, Ding and Peng, Huei and Lam, Henry and Bao, Shan and Nobukawa, Kazutoshi and LeBlanc, David J and Pan, Christopher S},
booktitle = {ASME 2015 Dynamic Systems and Control Conference},
organization = {American Society of Mechanical Engineers},
pages = {V001T17A002----V001T17A002},
title = {{Accelerated evaluation of automated vehicles in lane change scenarios}},
year = {2015}
}
                                        

@inproceedings{zhao2014analysis,
author = {Zhao, Ding and Peng, Huei and Nobukawa, Kazutoshi and Bao, Shan and LeBlanc, David J and Pan, Christopher S},
booktitle = {12th International Symposium on Advanced Vehicle Control},
title = {{Analysis of mandatory and discretionary lane change behaviors for heavy trucks}},
year = {2014}
}