{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:JRM62GADO6DTUUG47NEWN67OPY","short_pith_number":"pith:JRM62GAD","canonical_record":{"source":{"id":"1907.09825","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-23T11:38:26Z","cross_cats_sorted":[],"title_canon_sha256":"dcc5889ea3b9dc3f6c98d5f28edf46b3535ec9a0b3df689fcee4322fbea6f26f","abstract_canon_sha256":"bf658f45267e1907729dc36e460ccfde3ec231ba9bc267cf930d3dfcb9f88dc1"},"schema_version":"1.0"},"canonical_sha256":"4c59ed180377873a50dcfb4966fbee7e3f3bcafb9c608be148f56e8ca89ece97","source":{"kind":"arxiv","id":"1907.09825","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.09825","created_at":"2026-05-17T23:39:49Z"},{"alias_kind":"arxiv_version","alias_value":"1907.09825v1","created_at":"2026-05-17T23:39:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.09825","created_at":"2026-05-17T23:39:49Z"},{"alias_kind":"pith_short_12","alias_value":"JRM62GADO6DT","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"JRM62GADO6DTUUG4","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"JRM62GAD","created_at":"2026-05-18T12:33:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:JRM62GADO6DTUUG47NEWN67OPY","target":"record","payload":{"canonical_record":{"source":{"id":"1907.09825","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-23T11:38:26Z","cross_cats_sorted":[],"title_canon_sha256":"dcc5889ea3b9dc3f6c98d5f28edf46b3535ec9a0b3df689fcee4322fbea6f26f","abstract_canon_sha256":"bf658f45267e1907729dc36e460ccfde3ec231ba9bc267cf930d3dfcb9f88dc1"},"schema_version":"1.0"},"canonical_sha256":"4c59ed180377873a50dcfb4966fbee7e3f3bcafb9c608be148f56e8ca89ece97","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:39:49.959238Z","signature_b64":"H+zr+ASiu2vrxMA8pTVTrDD1kQ0AB6GFWB/9Kdq9mCMCsGD5KhUpR+ej1TzNrAREcilxHs727K5ICdezDHETBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4c59ed180377873a50dcfb4966fbee7e3f3bcafb9c608be148f56e8ca89ece97","last_reissued_at":"2026-05-17T23:39:49.958681Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:39:49.958681Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.09825","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:39:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LLizR7/F4znqLQzDbHAJEAQrvO3a05v/Y1AwEiEKWnKVV1HpmfMrH5wSWZxDOWcmymkl2iIUMOlUuD/eEDL0BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T03:29:52.938564Z"},"content_sha256":"5e1c2f0b47644e1416935063c7abc238c67a68bc9c338a23b3c6ad38f8e5a084","schema_version":"1.0","event_id":"sha256:5e1c2f0b47644e1416935063c7abc238c67a68bc9c338a23b3c6ad38f8e5a084"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:JRM62GADO6DTUUG47NEWN67OPY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Courteous Behavior and Trajectory Planning for Automated Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Klaus Dietmayer, Maximilian Graf, Oliver Speidel, Thanh Phan-Huu","submitted_at":"2019-07-23T11:38:26Z","abstract_excerpt":"Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other traffic participants. A key challenge is to generate behaviors which optimize the comfort and progress of the ego vehicle but at the same time are not too aggressive towards other traffic participants. In order to maintain real time capability for courteous behavior and trajectory planning, an efficient formulation of the optimal control problem and corresponding"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.09825","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:39:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"q/u0qhhfAsIXv5x7GRzJdYgfmnWMAXNQfq0GaU+ax7BWbi3IFDblRtHInyNu9nHL8VF3Vh6D2BYKRzHiWN+DAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T03:29:52.938910Z"},"content_sha256":"bcc685f59d49100945ab4d3f02b73f3b7d0fd486014280675ece2cd5ff38bd56","schema_version":"1.0","event_id":"sha256:bcc685f59d49100945ab4d3f02b73f3b7d0fd486014280675ece2cd5ff38bd56"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JRM62GADO6DTUUG47NEWN67OPY/bundle.json","state_url":"https://pith.science/pith/JRM62GADO6DTUUG47NEWN67OPY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JRM62GADO6DTUUG47NEWN67OPY/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-03T03:29:52Z","links":{"resolver":"https://pith.science/pith/JRM62GADO6DTUUG47NEWN67OPY","bundle":"https://pith.science/pith/JRM62GADO6DTUUG47NEWN67OPY/bundle.json","state":"https://pith.science/pith/JRM62GADO6DTUUG47NEWN67OPY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JRM62GADO6DTUUG47NEWN67OPY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:JRM62GADO6DTUUG47NEWN67OPY","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"bf658f45267e1907729dc36e460ccfde3ec231ba9bc267cf930d3dfcb9f88dc1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-23T11:38:26Z","title_canon_sha256":"dcc5889ea3b9dc3f6c98d5f28edf46b3535ec9a0b3df689fcee4322fbea6f26f"},"schema_version":"1.0","source":{"id":"1907.09825","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.09825","created_at":"2026-05-17T23:39:49Z"},{"alias_kind":"arxiv_version","alias_value":"1907.09825v1","created_at":"2026-05-17T23:39:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.09825","created_at":"2026-05-17T23:39:49Z"},{"alias_kind":"pith_short_12","alias_value":"JRM62GADO6DT","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"JRM62GADO6DTUUG4","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"JRM62GAD","created_at":"2026-05-18T12:33:21Z"}],"graph_snapshots":[{"event_id":"sha256:bcc685f59d49100945ab4d3f02b73f3b7d0fd486014280675ece2cd5ff38bd56","target":"graph","created_at":"2026-05-17T23:39:49Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other traffic participants. A key challenge is to generate behaviors which optimize the comfort and progress of the ego vehicle but at the same time are not too aggressive towards other traffic participants. In order to maintain real time capability for courteous behavior and trajectory planning, an efficient formulation of the optimal control problem and corresponding","authors_text":"Klaus Dietmayer, Maximilian Graf, Oliver Speidel, Thanh Phan-Huu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-23T11:38:26Z","title":"Towards Courteous Behavior and Trajectory Planning for Automated Driving"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.09825","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:5e1c2f0b47644e1416935063c7abc238c67a68bc9c338a23b3c6ad38f8e5a084","target":"record","created_at":"2026-05-17T23:39:49Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"bf658f45267e1907729dc36e460ccfde3ec231ba9bc267cf930d3dfcb9f88dc1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-23T11:38:26Z","title_canon_sha256":"dcc5889ea3b9dc3f6c98d5f28edf46b3535ec9a0b3df689fcee4322fbea6f26f"},"schema_version":"1.0","source":{"id":"1907.09825","kind":"arxiv","version":1}},"canonical_sha256":"4c59ed180377873a50dcfb4966fbee7e3f3bcafb9c608be148f56e8ca89ece97","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4c59ed180377873a50dcfb4966fbee7e3f3bcafb9c608be148f56e8ca89ece97","first_computed_at":"2026-05-17T23:39:49.958681Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:39:49.958681Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"H+zr+ASiu2vrxMA8pTVTrDD1kQ0AB6GFWB/9Kdq9mCMCsGD5KhUpR+ej1TzNrAREcilxHs727K5ICdezDHETBw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:39:49.959238Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.09825","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5e1c2f0b47644e1416935063c7abc238c67a68bc9c338a23b3c6ad38f8e5a084","sha256:bcc685f59d49100945ab4d3f02b73f3b7d0fd486014280675ece2cd5ff38bd56"],"state_sha256":"6c05384a757847ede08de3b75ae01302d012d9fb8027863f7552115d5b3d936a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TJVQvUhNw6DFHW+U9+i9o11gzr9FIKpxs4OOiOQvZ5EIkF318Q+Dy/1Qcgey7P/FQ5vCe3C5j+Mam+ACvc7NAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-03T03:29:52.941188Z","bundle_sha256":"5263b71675b75ec3eb7abcdd0be4e39d30fde6a6d8ad5f70942094ad30d47745"}}