交互风险（IR）：基于多模态轨迹预测和驾驶风险场的CAV全向安全度量

Interactive Risk (IR): An omnidirectional safety metric of CAVs based on multimodal trajectory prediction and driving risk field

• Junkai Jiang
• Zhiyuan Liu
• Hao Cheng
• Zeyu Han
• Zehong Ke
• Yuning Wang 通讯