{"id":"https:\/\/openalex.org\/W3118328102","doi":"https:\/\/doi.org\/10.1109\/iv47402.2020.9304625","title":"A Modular Architecture for Procedural Generation of Towns, Intersections and Scenarios for Testing Autonomous Vehicles","display_name":"A Modular Architecture for Procedural Generation of Towns, Intersections and Scenarios for Testing Autonomous Vehicles","publication_year":2020,"publication_date":"2020-10-19","ids":{"openalex":"https:\/\/openalex.org\/W3118328102","doi":"https:\/\/doi.org\/10.1109\/iv47402.2020.9304625","mag":"3118328102"},"language":"en","primary_location":{"id":"doi:10.1109\/iv47402.2020.9304625","is_oa":false,"landing_page_url":"https:\/\/doi.org\/10.1109\/iv47402.2020.9304625","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https:\/\/openalex.org\/A5047505025","display_name":"Ishaan Paranjape","orcid":null},"institutions":[{"id":"https:\/\/openalex.org\/I185103710","display_name":"University of California, Santa Cruz","ror":"https:\/\/ror.org\/03s65by71","country_code":"US","type":"education","lineage":["https:\/\/openalex.org\/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ishaan Paranjape","raw_affiliation_strings":["Univ. of California, Santa Cruz, Santa Cruz, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https:\/\/openalex.org\/I185103710"]}]},{"author_position":"middle","author":{"id":"https:\/\/openalex.org\/A5037455832","display_name":"Abdul Jawad","orcid":"https:\/\/orcid.org\/0000-0001-6530-1451"},"institutions":[{"id":"https:\/\/openalex.org\/I185103710","display_name":"University of California, Santa Cruz","ror":"https:\/\/ror.org\/03s65by71","country_code":"US","type":"education","lineage":["https:\/\/openalex.org\/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdul Jawad","raw_affiliation_strings":["Univ. of California, Santa Cruz, Santa Cruz, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https:\/\/openalex.org\/I185103710"]}]},{"author_position":"middle","author":{"id":"https:\/\/openalex.org\/A5046696107","display_name":"Yanwen Xu","orcid":"https:\/\/orcid.org\/0000-0001-7759-6613"},"institutions":[{"id":"https:\/\/openalex.org\/I185103710","display_name":"University of California, Santa Cruz","ror":"https:\/\/ror.org\/03s65by71","country_code":"US","type":"education","lineage":["https:\/\/openalex.org\/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yanwen Xu","raw_affiliation_strings":["Univ. of California, Santa Cruz, Santa Cruz, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https:\/\/openalex.org\/I185103710"]}]},{"author_position":"middle","author":{"id":"https:\/\/openalex.org\/A5054058510","display_name":"Asiiah Song","orcid":null},"institutions":[{"id":"https:\/\/openalex.org\/I185103710","display_name":"University of California, Santa Cruz","ror":"https:\/\/ror.org\/03s65by71","country_code":"US","type":"education","lineage":["https:\/\/openalex.org\/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Asiiah Song","raw_affiliation_strings":["Univ. of California, Santa Cruz, Santa Cruz, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https:\/\/openalex.org\/I185103710"]}]},{"author_position":"last","author":{"id":"https:\/\/openalex.org\/A5037589547","display_name":"Jim Whitehead","orcid":"https:\/\/orcid.org\/0000-0002-6887-7330"},"institutions":[{"id":"https:\/\/openalex.org\/I185103710","display_name":"University of California, Santa Cruz","ror":"https:\/\/ror.org\/03s65by71","country_code":"US","type":"education","lineage":["https:\/\/openalex.org\/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jim Whitehead","raw_affiliation_strings":["Univ. of California, Santa Cruz, Santa Cruz, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of California, Santa Cruz, Santa Cruz, CA, USA","institution_ids":["https:\/\/openalex.org\/I185103710"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https:\/\/openalex.org\/I185103710"],"apc_list":null,"apc_paid":null,"fwci":3.189,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.94136856,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"162","last_page":"168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https:\/\/openalex.org\/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9944999814033508,"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":0.9944999814033508,"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\/T10524","display_name":"Traffic control and management","score":0.9746999740600586,"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\/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9634000062942505,"subfield":{"id":"https:\/\/openalex.org\/subfields\/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https:\/\/openalex.org\/fields\/17","display_name":"Computer Science"},"domain":{"id":"https:\/\/openalex.org\/domains\/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https:\/\/openalex.org\/keywords\/modular-design","display_name":"Modular design","score":0.8720133304595947},{"id":"https:\/\/openalex.org\/keywords\/computer-science","display_name":"Computer science","score":0.7130303382873535},{"id":"https:\/\/openalex.org\/keywords\/architecture","display_name":"Architecture","score":0.6998026371002197},{"id":"https:\/\/openalex.org\/keywords\/polygon-mesh","display_name":"Polygon mesh","score":0.5587248802185059},{"id":"https:\/\/openalex.org\/keywords\/distributed-computing","display_name":"Distributed computing","score":0.4322536587715149},{"id":"https:\/\/openalex.org\/keywords\/embedded-system","display_name":"Embedded system","score":0.4113156795501709},{"id":"https:\/\/openalex.org\/keywords\/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3258254826068878},{"id":"https:\/\/openalex.org\/keywords\/operating-system","display_name":"Operating system","score":0.10924145579338074}],"concepts":[{"id":"https:\/\/openalex.org\/C101468663","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q1620158","display_name":"Modular design","level":2,"score":0.8720133304595947},{"id":"https:\/\/openalex.org\/C41008148","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q21198","display_name":"Computer science","level":0,"score":0.7130303382873535},{"id":"https:\/\/openalex.org\/C123657996","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q12271","display_name":"Architecture","level":2,"score":0.6998026371002197},{"id":"https:\/\/openalex.org\/C31487907","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q1154597","display_name":"Polygon mesh","level":2,"score":0.5587248802185059},{"id":"https:\/\/openalex.org\/C120314980","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q180634","display_name":"Distributed computing","level":1,"score":0.4322536587715149},{"id":"https:\/\/openalex.org\/C149635348","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q193040","display_name":"Embedded system","level":1,"score":0.4113156795501709},{"id":"https:\/\/openalex.org\/C107457646","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3258254826068878},{"id":"https:\/\/openalex.org\/C111919701","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q9135","display_name":"Operating system","level":1,"score":0.10924145579338074},{"id":"https:\/\/openalex.org\/C142362112","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q735","display_name":"Art","level":0,"score":0},{"id":"https:\/\/openalex.org\/C121684516","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0},{"id":"https:\/\/openalex.org\/C153349607","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q36649","display_name":"Visual arts","level":1,"score":0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109\/iv47402.2020.9304625","is_oa":false,"landing_page_url":"https:\/\/doi.org\/10.1109\/iv47402.2020.9304625","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https:\/\/metadata.un.org\/sdg\/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https:\/\/openalex.org\/F4320306081","display_name":"Ford Foundation","ror":"https:\/\/ror.org\/02fvtx219"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https:\/\/openalex.org\/W2317401576","https:\/\/openalex.org\/W2753034999","https:\/\/openalex.org\/W2962867954","https:\/\/openalex.org\/W2971909573","https:\/\/openalex.org\/W4295719664","https:\/\/openalex.org\/W6745935785"],"related_works":["https:\/\/openalex.org\/W1557607869","https:\/\/openalex.org\/W2366350639","https:\/\/openalex.org\/W2087496541","https:\/\/openalex.org\/W2028455732","https:\/\/openalex.org\/W4313703117","https:\/\/openalex.org\/W2085564391","https:\/\/openalex.org\/W2108615321","https:\/\/openalex.org\/W1984758362","https:\/\/openalex.org\/W2042049060","https:\/\/openalex.org\/W2061430247"],"abstract_inverted_index":{"Simulation-based":[0],"testing":[1,34],"is":[2],"critical":[3],"for":[4,33],"ensuring":[5],"safety":[6],"of":[7,23,37,42,46,102,135,149],"autonomous":[8,38],"vehicles.":[9,39],"Autonomous":[10],"vehicles":[11],"are":[12,57,87],"enabled":[13],"by":[14,124],"deep":[15],"learning":[16],"techniques":[17],"which":[18],"require":[19],"a":[20,75,146],"large":[21,147],"quantity":[22],"data.":[24],"With":[25,84],"simulation":[26],"testing,":[27],"we":[28,56,72,86],"can":[29,116],"create":[30,60,145],"rare":[31,61],"events":[32],"and":[35,44,80],"training":[36],"Procedural":[40],"generation":[41,101],"roads":[43,141],"modeling":[45],"driving":[47],"behaviors":[48],"in":[49,128,137],"an":[50],"easily":[51],"extendable":[52],"architecture":[53],"ensures":[54],"that":[55,77],"able":[58,88],"to":[59,89,144],"scenarios":[62],"at":[63],"scale":[64],"with":[65,139],"minimal":[66],"artistic":[67],"burden.":[68],"In":[69],"this":[70,129],"paper,":[71],"present":[73],"CruzWay,":[74,85],"system":[76],"both":[78],"supports":[79,100],"creates":[81],"these":[82],"scenarios.":[83,150],"procedurally":[90],"generate":[91,117],"town":[92],"sized":[93],"road":[94,97,103,112],"networks":[95],"or":[96],"intersections.":[98],"CruzWay":[99,115],"meshes":[104,109],"as":[105,107,119,121],"well":[106,120],"navigation":[108],"from":[110],"SUMO":[111],"network":[113],"files.":[114],"cars":[118],"pedestrians":[122],"run":[123],"behavior":[125],"trees":[126],"(BTs)":[127],"environment.":[130],"The":[131],"self-contained,":[132],"modular":[133],"nature":[134],"BTs":[136],"combination":[138],"procedural":[140],"allows":[142],"us":[143],"number":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}