// SankeyMATIC diagram inputs - Saved: 17/11/2024, 22:54:52
// https://sankeymatic.com/build/

// === Nodes and Flows ===

//68
Kolekar et al., 2020 [1] Overtaking
//Overtaking [1] Lane change
Overtaking [1] Longitudinal and lateral control
Kolekar et al., 2020 [1] Car-following
Car-following [1] Only longitudinal control
Kolekar et al., 2020 [1] Oncoming traffic


//67
Pérez-Dattari et al., 2022 [1] T-junction
T-junction [1] Intersection
Intersection [1] Longitudinal and lateral control

Pérez-Dattari et al., 2022 [1] Pedestrian collision avoidance
Pedestrian collision avoidance [1] Longitudinal and lateral control


//66
Chen et al., 2024 [1] Lane change
Lane change [1] Longitudinal and lateral control


//65
J. Liu, Zhou, et al., 2024 [1] Unprotected left turn
Unprotected left turn [1] Intersection
Intersection [1] Longitudinal and lateral control

//64
Xiao Wang et al., 2024 [1] Unprotected left turn
Unprotected left turn [1] Intersection
Intersection [1] Longitudinal and lateral control
Xiao Wang et al., 2024 [1] Overtaking
Overtaking [1] Longitudinal and lateral control
Xiao Wang et al., 2024 [1] Intersection merging
Intersection merging [1] Longitudinal and lateral control
Xiao Wang et al., 2024 [1] Road cruising
Road cruising [1] Longitudinal and lateral control


//63
Sadeghian et al., 2019 [1] Human trajectory forecasting

//62   Letian Wang et al.           L. Wang et al., 2021
Letian Wang et al., 2021 [1] Roundabout
Roundabout [1] Intersection
Intersection [1] Longitudinal and lateral control

//61
Schwarting et al., 2019 [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control
Schwarting et al., 2019 [1] Unprotected left turn
Unprotected left turn [1] Intersection
Intersection [1] Longitudinal and lateral control



//60
L. Zhang et al., 2023 [1] Roundabout
Roundabout [1] Intersection
Intersection [1] Longitudinal and lateral control

//59 B. Huang & Sun   Huang and Sun, 2023

B. Huang and Sun, 2023 [1] Social occlusion inference

//58 
Alahi et al., 2016 [1] Human trajectory forecasting

//57
Gupta et al., 2018 [1] Human trajectory forecasting

//56
Toghi et al., 2022 [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control
Toghi et al., 2022 [1] Highway exit
Highway exit [1] Longitudinal and lateral control

//55
Landolfi and Dragan, 2018 [1] Reacts to stalled car
Reacts to stalled car [1] Longitudinal and lateral control
Landolfi and Dragan, 2018 [1] Reacts to speeding
Reacts to speeding [1] Longitudinal and lateral control
Landolfi and Dragan, 2018 [1] Reacts to ambulance
Reacts to ambulance [1] Longitudinal and lateral control
Landolfi and Dragan, 2018 [1] Highway exit
Highway exit [1] Longitudinal and lateral control

//54  Vemula et al., 2018 Vemula, Muelling and Oh, 2018
Vemula et al., 2018 [1] Human trajectory forecasting

//53 Reddy et al., 2021    Reddy, Malviya and Kala, 2021
Reddy et al., 2021 [1] Social robot navigating

// 52.
Buckman et al., 2019 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control

//51
Kothari and Alahi, 2023 [1] Human trajectory forecasting


//50 
M. Liu et al., 2024 [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control
M. Liu et al., 2024 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control
M. Liu et al., 2024 [1] Oncoming traffic
Oncoming traffic [1] Longitudinal and lateral control


//49
Hirose et al., 2024 [1] Social robot navigating

//48  L. Liu et al., 2020  
L. Liu et al., 2020 [1] Social robot navigating

//47
Zhou et al., 2022 [1] Unprotected left turn
Unprotected left turn [1] Intersection
Intersection [1] Longitudinal and lateral control


//46
Larsson et al., 2021 [1] Lane change
Lane change [1] Highway driving
Highway driving [1] Longitudinal and lateral control
Larsson et al., 2021 [1] Car-following
Car-following [1] Only longitudinal control

//45
Ferrer and Sanfeliu, 2014 [1] Social robot navigating

//44
Valiente et al., 2024 [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control

Valiente et al., 2024 [1] Highway exit
Highway exit [1] Longitudinal and lateral control

Valiente et al., 2024 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control

Valiente et al., 2024 [1] Roundabout
Roundabout [1] Intersection
Intersection [1] Longitudinal and lateral control



//43. ADD 
//Lingguang Wang et al., 2023a
// Wang, Fernandez and Stiller, 2023a
Lingguang Wang et al., 2023a [1] Lane change
Lane change [1] Highway driving
Highway driving [1] Longitudinal and lateral control

Lingguang Wang et al., 2023a [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control

Lingguang Wang et al., 2023a [1] Highway exit
Highway exit [1] Longitudinal and lateral control


//42 
Geng et al., 2023 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control

//41 Bhatt et al., 2022    Bhatt, Khajepour and Hashemi, 2022
Bhatt et al., 2022 [1] Pedestrian collision avoidance
Pedestrian collision avoidance [1] Longitudinal and lateral control

Bhatt et al., 2022 [1] Nudging parked cars
Nudging parked cars [1] Longitudinal and lateral control


//40.
//(Lingguang Wang et al., 2023b)
// Wang, Fernandez and Stiller, 2023b
Lingguang Wang et al., 2023b [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control

//39.
Peng et al., 2021 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control

Peng et al., 2021 [1] Roundabout
Roundabout [1] Intersection
Intersection [1] Longitudinal and lateral control

Peng et al., 2021 [1] Tollgate
Tollgate [1] Longitudinal and lateral control
//Intersection [1] Longitudinal and lateral control

Peng et al., 2021 [1] Bottleneck
Bottleneck [1] Longitudinal and lateral control

Peng et al., 2021 [1] Parking lot
Parking lot [1] Longitudinal and lateral control



//38 Zhu and Zhao, 2023       Z. Zhu & Zhao, 2023

Z. Zhu and Zhao, 2023 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control


//37 social robot  Kothari et al., 2021   Kothari, Sifringer and Alahi, 2021
Kothari et al., 2021 [1] Human trajectory forecasting


//36
Nan et al., 2024 [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control


//35
Crosato, Shum, et al., 2023 [1] Pedestrian collision avoidance
Pedestrian collision avoidance [1] Longitudinal and lateral control
//34 Song et al., 2016
Song et al., 2016 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control

//33  
Taghavifar and Mohammadzadeh, 2024 [1] Pedestrian collision avoidance
Pedestrian collision avoidance [1] Longitudinal and lateral control


//32
Zhao et al., 2024 [1] Lane change
Lane change [1] Highway driving
Highway driving [1] Longitudinal and lateral control


Zhao et al., 2024 [1] Overtaking
Overtaking [1] Highway driving
Highway driving [1] Longitudinal and lateral control


//31
Hang et al., 2021 [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control

Hang et al., 2021 [1] Overtaking
Overtaking [1] Highway driving
Highway driving [1] Longitudinal and lateral control

//30
Tong et al., 2024 [1] T-junction
T-junction [1] Intersection
Intersection [1] Longitudinal and lateral control



//29
Zong et al., 2023 [1] Overtaking
Overtaking [1] Urban driving
Urban driving [1] Longitudinal and lateral control

Zong et al., 2023 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control

Zong et al., 2023 [1] Unprotected left turn
Unprotected left turn [1] Intersection
Intersection [1] Longitudinal and lateral control

//28
Crosato et al., 2021 [1] Pedestrian collision avoidance
Pedestrian collision avoidance [1] Longitudinal and lateral control


//27
Shu et al., 2023 [1] Unprotected left turn
Unprotected left turn [1] Intersection
Intersection [1] Longitudinal and lateral control


//26  Xueyang Wang et al., 2024 //. Wang et al., 2024
//X. Wang et al., 2024 [1] Social robot navigating
Xueyang Wang et al., 2024 [1] Human trajectory forecasting

//25
//Galati et al., 2022 [1] Social robot navigating

//24
Ding et al., 2022 [1] Lane change
Lane change [1] Highway driving
Highway driving [1] Longitudinal and lateral control


//23
//J. Liu et al., 2024
//J. Liu et al., 2024 [1] Unprotected left turn
//Unprotected left turn [1] Intersection
//Intersection [1] Longitudinal and lateral control
//J. Liu et al., 2024 [1] Unsignalized intersection
//Unsignalized intersection [1] Intersection
//Intersection [1] Longitudinal and lateral control

//J. Liu, Qi, et al., 2024
J. Liu, Qi, et al., 2024 [1] Unprotected left turn
Unprotected left turn [1] Intersection
Intersection [1] Longitudinal and lateral control
J. Liu, Qi, et al., 2024 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control


//22 
//C. Li et al., 2022
//Li et al., 2022

C. Li et al., 2022 [1] Roundabout
Roundabout [1] Intersection
Intersection [1] Longitudinal and lateral control


//21
//Z. Huang, Wu, et al., 2023
//Huang, Wu and Lv, 2023  Z. Huang, Wu and Lv, 2023

Z. Huang, Wu, et al., 2023 [1] Unprotected left turn
Unprotected left turn [1] Intersection
Intersection [1] Longitudinal and lateral control
Z. Huang, Wu, et al., 2023 [1] Roundabout
Roundabout [1] Intersection
Intersection [1] Longitudinal and lateral control


//20
Chang et al., 2023 [1] Lane change
Lane change [1] Urban driving
Urban driving [1] Longitudinal and lateral control


//19
Hang, Huang, et al., 2022b [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control


//18
//C. Xu et al., 2023
//Xu et al., 2023

C. Xu et al., 2023 [1] Lane change
Lane change [1] Highway driving
Highway driving [1] Longitudinal and lateral control




//17 Oliveira et al., 2019
Oliveira et al., 2019 [1] T-junction
T-junction [1] Intersection
Intersection [1] Longitudinal and lateral control


//16
Yan et al., 2022 [1] Lane change
Lane change [1] Longitudinal and lateral control

//15 
Wang et al., 2024 [1] Platoon
Platoon [1] Longitudinal and lateral control


//14 
//Qin et al., 2021 [1] Social robot navigating


//13
Hang, Huang, et al., 2022a [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control


//12 //
Da and Hua, 2023 [1] Social robot navigating

//11
Sun et al., 2018 [1] Lane change
Lane change [1] Longitudinal and lateral control

Sun et al., 2018 [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control


//10
Hang, Lv, et al., 2022 [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control


//9
Toghi et al., 2021b [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control


//8 Z. Huang, Liu, et al., 2023  Huang et al., 2023
Z. Huang, Liu, et al. [1] Unsignalized intersection
Unsignalized intersection [1] Intersection
Intersection [1] Longitudinal and lateral control

//Huang et al., 2023 [1] T-junction
//T-junction [1] Intersection
//Intersection [1] Longitudinal and lateral control

Z. Huang, Liu, et al. [1] Lane change
Lane change [1] Longitudinal and lateral control


//7
Sun et al., 2019 [1] Interact with pedestrian
Interact with pedestrian [1] Intersection
Intersection [1] Longitudinal and lateral control


//6
Lu et al., 2022 [1] Overtaking
Overtaking [1] Urban driving
Urban driving [1] Longitudinal and lateral control


//5
Hang et al., 2020 [1] Lane change
Hang et al., 2020 [1] Overtaking
Lane change [1] Highway driving
Highway driving [1] Longitudinal and lateral control

Overtaking [1] Highway driving
Highway driving [1] Longitudinal and lateral control


//4
Toghi et al., 2021a [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control


//3
Xue et al., 2023 [1] Bottleneck
Bottleneck [1] Longitudinal and lateral control
Xue et al., 2023 [1] On-ramp merging
On-ramp merging [1] Longitudinal and lateral control

//2
//(J. Wang et al., 2023)
//Wang et al., 2023

J. Wang et al., 2021 [1] Lane change
Lane change [1] Urban driving
Urban driving [1] Longitudinal and lateral control

//1
Wang et al., 2023 [1] Lane change
Lane change [1] Longitudinal and lateral control

// === Settings ===

size w 1500
  h 1910
margin l 89
  r 3
  t 9
  b 9
bg color #ffffff
  transparent N
node w 7
  h 16
  spacing 75
  border 2
  theme a
  color #888888
  opacity 1
flow curvature 0.82
  inheritfrom source
  color #999999
  opacity 0.65
layout order automatic
  justifyorigins N
  justifyends N
  reversegraph N
  attachincompletesto nearest
labels color #000000
  hide N
  highlight 0.75
  fontface serif
  linespacing 0.1
  relativesize 100
  magnify 100
labelname appears Y
  size 21.5
  weight 400
labelvalue appears Y
  fullprecision Y
  position after
  weight 400
labelposition autoalign 0
  scheme per_stage
  first before
  breakpoint 5
value format ',.'
  prefix ''
  suffix ''
themeoffset a 9
  b 0
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  d 0
meta mentionsankeymatic N
  listimbalances Y

// === Moved Nodes ===

move Human trajectory forecasting 0.66667, 0.59152
move Social occlusion inference 0.67575, 0.11124
move Social robot navigating 0.66667, -0.05666
move Pedestrian collision avoidance 0.03756, 0.05354
move Only longitudinal control 0.33787, 0.69311
move Car-following 0.21585, 0.69129
move Tong et al., 2024 -0.00091, -0.15601
move Road cruising 0.03261, -0.2962
move Oliveira et al., 2019 -0.00091, -0.18266
move Longitudinal and lateral control 0.10352, -0.22169
move Lingguang Wang et al., 2023a 0, -0.06532
move Sun et al., 2019 -0.03451, -0.49188
move Hang, Huang, et al., 2022a 0, -0.5388
move Hang et al., 2021 -0.01362, -0.00201
move Z. Huang, Wu, et al., 2023 -0.00091, -0.42761
move C. Xu et al., 2023 -0.03178, 0.19609
move Yan et al., 2022 -0.07718, 0.15275
move Wang et al., 2024 -0.33333, -0.07511
move Tollgate 0.03731, -0.15047
move J. Wang et al., 2021 -0.00817, 0.10865
move Sadeghian et al., 2019 0, 0.68674
move Alahi et al., 2016 -0.02088, 0.65996
move Peng et al., 2021 -0.00182, -0.07564
move Valiente et al., 2024 0, -0.11086
move Landolfi and Dragan, 2018 -0.33424, 0.02936
move Toghi et al., 2021b -0.33333, -0.01988
move Xue et al., 2023 -0.33515, 0.02566
move Hang, Huang, et al., 2022b -0.00091, -0.58639
move Song et al., 2016 0, -0.4943
move Hang, Lv, et al., 2022 -0.33333, -0.02134
move Toghi et al., 2021a -0.35059, -0.06366
move Toghi et al., 2022 -0.33424, -0.14749
move Wang et al., 2023 -0.00272, 0.21186
move Chang et al., 2023 -0.04994, 0.25264
move Ding et al., 2022 -0.00091, 0.23631
move J. Liu, Qi, et al., 2024 -0.00182, -0.35937
move Oncoming traffic 0.03822, 0.08125
move Chen et al., 2024 -0.03814, 0.22242
move Zong et al., 2023 -0.00091, -0.22583
move Larsson et al., 2021 -0.00091, 0.69563
move Kolekar et al., 2020 -0.04903, 0.41077
move Lu et al., 2022 0, 0.20148
move Zhao et al., 2024 -0.0336, 0.29676
move J. Liu, Zhou, et al., 2024 -0.00091, -0.28487
move Zhou et al., 2022 0, -0.34656
move Shu et al., 2023 0, -0.29678
move Schwarting et al., 2019 -0.01634, -0.10411
move Letian Wang et al., 2021 -0.00363, -0.45119
move Sun et al., 2018 -0.00363, -0.29022
move L. Zhang et al., 2023 0, -0.49253
move C. Li et al., 2022 -0.00182, -0.49196
move Lingguang Wang et al., 2023b 0, -0.51369
move Geng et al., 2023 0, -0.51573
move Buckman et al., 2019 0, -0.53247
move B. Huang and Sun, 2023 -0.00545, 0.17888
move Gupta et al., 2018 -0.04813, 0.57122
move Vemula et al., 2018 -0.03905, 0.61751
move Kothari and Alahi, 2023 0, 0.58967
move Kothari et al., 2021 -0.03541, 0.54488
move Xueyang Wang et al., 2024 -0.00454, 0.54722
move Reddy et al., 2021 0, 0.00898
move Hirose et al., 2024 0, 0.0089
move L. Liu et al., 2020 -0.00091, 0.00937
move Ferrer and Sanfeliu, 2014 0, -0.04636
move Crosato, Shum, et al., 2023 -0.33333, 0.13829
move Taghavifar and Mohammadzadeh, 2024 -0.33424, 0.13887
move Crosato et al., 2021 -0.33606, 0.15473
move Pérez-Dattari et al., 2022 -0.01907, -0.18368
move Lane change 0.18298, 0.09607
move T-junction 0.14497, -0.17569
move Unprotected left turn 0.14607, -0.32963
move Intersection 0.01766, -0.42646
move Hang et al., 2020 0, 0.32533
move Overtaking 0.18154, 0.03875
move Bhatt et al., 2022 -0.33424, 0.10974
move Roundabout 0.1444, -0.46439
move Unsignalized intersection 0.14644, -0.44168
move Intersection merging 0.03249, -0.30429
move On-ramp merging -0.1501, -0.13691
move Nudging parked cars 0.03723, 0.06256
move M. Liu et al., 2024 -0.05267, -0.15197
move Xiao Wang et al., 2024 0, -0.14613
move Z. Huang, Liu, et al. -0.01634, -0.09659
move Z. Zhu and Zhao, 2023 0, -0.51268
move Interact with pedestrian 0.21605, -0.51119
move Nan et al., 2024 -0.33333, 0.02268
move Reacts to stalled car 0.03621, 0.07368
move Highway exit 0.03752, -0.15037
move Reacts to speeding 0.03598, 0.08341
move Reacts to ambulance 0.03711, 0.02188
move Bottleneck 0.03478, 0.06747
move Platoon 0.036, -0.05343
move Parking lot 0.03868, -0.18403
move Highway driving 0.0271, -0.01662
move Urban driving 0.02877, -0.12516
move Da and Hua, 2023 0, -0.07363