yusuke1997/dblp-id-title huggingface dataset:
Vehicle Detection and Tracking in Car Video Based on Motion Model
Optimal Tracking Control for Autonomous Vehicle With Prescribed Performance via Adaptive Dynamic Programming
Bayesian Route Choice Inference to Address Missed Bluetooth Detections
A Predictive Command Governor-Based Adaptive Cruise Controller With Collision Avoidance for Non-Connected Vehicle Following
OAF-Net: An Occlusion-Aware Anchor-Free Network for Pedestrian Detection in a Crowd
Digital Twin-Based Task-Driven Resource Management in Intelligent UAV Swarms
Short-Term Forecast of Bicycle Usage in Bike Sharing Systems: A Spatial-Temporal Memory Network
Adaptive Sliding-Window Strategy for Vehicle Detection in Highway Environments
Analysis of Multiresolution-Based Fusion Strategies for a Dual Infrared System
Inter-Intra Cluster Reorganization for Unsupervised Vehicle Re-Identification
E 2 CoPre: Energy Efficient and Cooperative Collision Avoidance for UAV Swarms With Trajectory Prediction
Performance Guaranteed Finite-Time Non-Affine Control of Waverider Vehicles Without Function-Approximation
Monitoring Urban-Freight Transport Based on GPS Trajectories of Heavy-Goods Vehicles
Effect of Link-Level Variations of Connected Vehicles (CV) Proportions on the Accuracy and Reliability of Travel Time Estimation
An Adaptive Fault Diagnosis Model for Railway Single and Double Action Turnout
VisionTraj: A Noise-Robust Trajectory Recovery Framework Based on Large-Scale Camera Network
A Flight Process Importance Framework for Evaluating Pilot Performance During Airplane Landing
A Novel Strategy for Road Lane Detection and Tracking Based on a Vehicle's Forward Monocular Camera
PACP: An Efficient Pseudonymous Authentication-Based Conditional Privacy Protocol for VANETs
Reconstructing Activity Location Sequences From Incomplete Check-In Data: A Semi-Markov Continuous-Time Bayesian Network Model
Resilient UAV Traffic Congestion Control Using Fluid Queuing Models
Modeling and simulation for hybrid electric vehicles. II. Simulation
A Flexible System Architecture for Acquisition and Storage of Naturalistic Driving Data
A simple and effective method for predicting travel times on freeways
Distributed Multi-Agent Reinforcement Learning for Cooperative Low-Carbon Control of Traffic Network Flow Using Cloud-Based Parallel Optimization
A Topology-Based Model for Railway Train Control Systems
Testing Scenario Library Generation for Connected and Automated Vehicles, Part I: Methodology
A Road Congestion Detection System Using Undedicated Mobile Phones
Route Control Strategies for Autonomous Vehicles Exiting to Off-Ramps
Path-Guided Formation-Containment Control for Networked Heterogeneous Multi-Vehicle Systems
Do We Really Need to Calibrate All the Parameters? Variance-Based Sensitivity Analysis to Simplify Microscopic Traffic Flow Models
A Human-Like Trajectory Planning Method on a Curve Based on the Driver Preview Mechanism
PBAG: A Privacy-Preserving Blockchain-Based Authentication Protocol With Global-Updated Commitment in IoVs
Human Control of Air Traffic Trajectory Optimizer
Privacy-Preserving Continuous Data Collection for Predictive Maintenance in Vehicular Fog-Cloud
A Physics-Regularized Multiscale Attention Network for Spatiotemporal Traffic Data Imputation
CoSIGN: A Parallel Algorithm for Coordinated Traffic Signal Control
Human as a Service: Towards Resilient Parking Search System With Sensorless Sensing
Cooperative Adaptive Cruise Control: Network-Aware Analysis of String Stability
An Adaptive Background Modeling Method for Foreground Segmentation
Vehicle Re-Identification Using Quadruple Directional Deep Learning Features
Distributed Data-Driven Event-Triggered Fault-Tolerant Control for a Connected Heterogeneous Vehicle Platoon With Sensor Faults
DATI-IDS: Domain Adaptation and Time-Series Imaging-Based Intrusion Detection System for Connected Autonomous Vehicles
A Real-Time Hierarchical Energy Management Strategy for FTPSS to Improve the PV/RBE Utilization and Power Supply Quality
Finding and Indexing Vehicle Maneuvers From Dashboard Camera Video
Infrared transmission for intervehicle ranging and vehicle-to-roadside communication systems using spread-spectrum technique
Automatic commercial aircraft-collision avoidance in free flight: the three-dimensional problem
Large-Scale Multiobjective Model Pruning for Intelligent Transport Systems
Robust Train Timetabling Problem: Mathematical Model and Branch and Bound Algorithm
Reasoning About Expected Job Completion Time in Dynamic Vehicular Clouds
Dynamic Snow Plow Fleet Management Under Uncertain Demand and Service Disruption
Intelligent Containers Based on a Low-Power Sensor Network and a Non-Invasive Acquisition System for Management and Tracking of Goods
Dynamic Data Regulation for Fixed Vehicle Detectors
UITDE: A UAV-Assisted Intelligent True Data Evaluation Method for Ubiquitous IoT Systems in Intelligent Transportation of Smart City
Joint Optimization of Multistage Pricing and Seat Allocation for High-Speed Railways Integrating Pre-Sale Period Division
Connectivity Improvement of Hybrid Millimeter Wave and Microwave Vehicular Networks
Empirical Geometry-Based Random-Cluster Model for High-Speed-Train Channels in UMTS Networks
A Study on the Method for Cleaning and Repairing the Probe Vehicle Data
SegTransConv: Transformer and CNN Hybrid Method for Real-Time Semantic Segmentation of Autonomous Vehicles
Traffic Signal Timing and Trajectory Optimization in a Mixed Autonomy Traffic Stream
Dynamic Safety Estimation of Airport Pick-Up Area Based on Video Trajectory Data
Parallel Control and Management for Intelligent Transportation Systems: Concepts, Architectures, and Applications
Decision-Making Framework for Automated Driving in Highway Environments
Transit Signal Priority Controlling Method Considering Non-Transit Traffic Benefits and Coordinated Phase States for Multi-Rings Timing Plan at Isolated Intersections
Structural Charging and Replenishment Policies for Battery Swapping Charging System Operation Under Uncertainty
Data-Driven Robust Predictive Control for Mixed Vehicle Platoons Using Noisy Measurement
Robust Adaptive Fuzzy-Free Fault-Tolerant Path Planning Control for a Semi-Submersible Platform Dynamic Positioning System With Actuator Constraints
Visible Light Communication-Enabled Simultaneous Position and Orientation Detection for Harnessing Multipath Interference and Random Fading
Road Traffic Sign Recognition Method Using Siamese Network Combining Efficient-CNN-Based Encoder
Adaptive Spatio-Temporal Voxel-Based Trajectory Planning and Optimization for Close-Quarters Ships Collision Avoidance
Bidding for Preferred Timing: An Auction Design for Electric Vehicle Charging Station Scheduling
User Community Identification Through Fine-Grained Mobility Records for Smart City Applications
Effective Finite Time Stability Control for Human-Machine Shared Vehicle Following System
Driver Fatigue Detection Through Chaotic Entropy Analysis of Cortical Sources Obtained From Scalp EEG Signals
Motion Segmentation Via a Sparsity Constraint
Robust Predictive Control for EEG-Based Brain-Robot Teleoperation
Focal Distillation From High-Resolution Data to Low-Resolution Data for 3D Object Detection
A Fluid Mechanics-Based Data Flow Model to Estimate VANET Capacity
Boosted Genetic Algorithm Using Machine Learning for Traffic Control Optimization
A Network Partitioning Algorithmic Approach for Macroscopic Fundamental Diagram-Based Hierarchical Traffic Network Management
Neural-Fuzzy Gap Control for a Current/Voltage-Controlled 1/4-Vehicle MagLev System
Identify, Estimate and Bound the Uncertainty of Reinforcement Learning for Autonomous Driving
Spatio-Temporal Characterization of Stochastic Dynamic Transportation Networks
A Collaborative Visual Tracking Architecture for Correlation Filter and Convolutional Neural Network Learning
How Does Traffic Environment Quantitatively Affect the Autonomous Driving Prediction?
Timetabling Problems With Holding Decisions and Fuzzy Synchronization Functions
CACrowdGAN: Cascaded Attentional Generative Adversarial Network for Crowd Counting
Accelerated Map Matching for GPS Trajectories
Intelligent Charge Rate Optimization of PHEVs Incorporating Driver Satisfaction and Grid Constraints
Identity-Unrelated Information Decoupling Model for Vehicle Re-Identification
Hidden Mixture Vehicle Discharge State Inference at Signalized Intersection Using Vehicle Travel Time and Discharge Headway Data
Learning With Confidence the Likelihood of Flight Diversion Due to Adverse Weather at Destination
Crowd Management Through Optimal Layout of Fences: An Ant Colony Approach Based on Crowd Simulation
Automatic Inverse Analysis of Asphalt Pavement Field Aging Based on System Identification
Deep Learning Based Caching for Self-Driving Cars in Multi-Access Edge Computing
Range-Constrained and Stable Federated Charging Scheme for Electricity Vehicles
Short-Term Travel Speed Prediction for Urban Expressways: Hybrid Convolutional Neural Network Models
Estimation of Urban Traffic State With Probe Vehicles
On Achieving Seamless IP Communications in Heterogeneous Vehicular Networks
Condition-Based Maintenance for Traction Power Supply Equipment Based on Partially Observable Markov Decision Process
Energy-Optimal Speed Control for Electric Vehicles on Signalized Arterials
Bayesian Deep Learning for Aircraft Hard Landing Safety Assessment
Real-Time Road-Slope Estimation Based on Integration of Onboard Sensors With GPS Using an IMMPDA Filter
Volunteer Assisted Collaborative Offloading and Resource Allocation in Vehicular Edge Computing
M-SOS: Mobility-Aware Secured Offloading and Scheduling in Dew-Enabled Vehicular Fog of Things
Real-Time Point Cloud Object Detection via Voxel-Point Geometry Abstraction
N 2 C: Neural Network Controller Design Using Behavioral Cloning
Curb Detection and Tracking in Low-Resolution 3D Point Clouds Based on Optimization Framework
Ship Collision Avoidance Utilizing the Cross-Entropy Method for Collision Risk Assessment
Towards Accurate and Low-Cost Path Reconstruction in Mobile UAV Networks
Acoustic Non-Line-of-Sight Vehicle Approaching and Leaving Detection
Autonomous Pedestrian Collision Avoidance Using a Fuzzy Steering Controller
MT-DyNN: Multi-Teacher Distilled Dynamic Neural Network for Instance-Adaptive Detection in Autonomous Driving
CenterPoint-SE: A Single-Stage Anchor-Free 3-D Object Detection Algorithm With Spatial Awareness Enhancement
A Wireless Accelerometer-Based Automatic Vehicle Classification Prototype System
A Novel Stochastic Blockchain-Based Energy Management in Smart Cities Using V2S and V2G
TransRVNet: LiDAR Semantic Segmentation With Transformer
A hierarchical view on modeling the reliability of a DSRC link for ETC applications
Advances in Crowd Analysis for Urban Applications Through Urban Event Detection
GraphSAGE-Based Traffic Speed Forecasting for Segment Network With Sparse Data
Detection of Motorcycles in Urban Traffic Using Video Analysis: A Review
Reliable Detection of Overtaking Vehicles Using Robust Information Fusion
Advanced Optimization in Caching AAVs-Assisted Wireless Networks With Energy Constraint
Complete Coverage Search for Multiple Autonomous Underwater Vehicles Based on Neuronal Activity Reassignment
Performance-Designated Reinforcement Learning Enclosing Control for UAVs With Collision-Free Capability
Real-Time Stereo 3D Car Detection With Shape-Aware Non-Uniform Sampling
Multi-Task Y-Shaped Graph Neural Network for Point Cloud Learning in Autonomous Driving
A Dual Function Intelligent Reflecting Surface in Integrated Radar Communication System
Binocular-Separated Modeling for Efficient Binocular Stereo Matching
An Examination of the Public Transport Information Requirements of Users
Influence of Aircraft Maneuver Preference Variability on Airspace Usage
Clothoid-Based Reference Path Reconstruction for HD Map Generation
Self-Attentive Local Aggregation Learning With Prototype Guided Regularization for Point Cloud Semantic Segmentation of High-Speed Railways
Traffic Prediction Based on Formal Concept-Enhanced Federated Graph Learning
DeepSuite: A Test Suite Optimizer for Autonomous Vehicles
NovelADS: A Novel Anomaly Detection System for Intra-Vehicular Networks
Temporal Correlation Characteristics of Air-to-Ground Wireless Channel With UAV Wobble
Characterization of Driving Behaviors Based on Field Observation of Intersection Left-Turn Across-Path Scenarios
Modeling the Fundamental Diagram of Mixed Traffic Flow With Dedicated Lanes for Connected Automated Vehicles
Privacy-Preserving Truth Discovery Based on Secure Multi-Party Computation in Vehicle-Based Mobile Crowdsensing
Privacy-Preserving Authentication Scheme for Connected Autonomous Vehicles
A Secure and Lightweight Drones-Access Protocol for Smart City Surveillance
Local Path Planning for Off-Road Autonomous Driving With Avoidance of Static Obstacles
Roundabout Crossing With Interval Occupancy and Virtual Instances of Road Users
MVCM Car-Following Model for Connected Vehicles and Simulation-Based Traffic Analysis in Mixed Traffic Flow
Design of Electromagnetic Road Markings for Implementing 77 GHz Millimeter-Wave Radar Sensing
A probabilistic approach to aircraft conflict detection
Context-Aware Navigation Protocol for Safe Driving in Vehicular Cyber-Physical Systems
Introduction to the Special Issue on Applications of Mechatronic and Embedded Systems (MESA) in ITS
Autonomous Vehicles Security: Challenges and Solutions Using Blockchain and Artificial Intelligence
Software Escalation Prediction Based on Deep Learning in the Cognitive Internet of Vehicles
Differential Features for Pedestrian Detection: A Taylor Series Perspective
Real-Time Freeway Network Traffic Surveillance: Large-Scale Field-Testing Results in Southern Italy
Unified Scheduling Model for High-Speed Train Timetable Optimization and Rescheduling Based on Deep Reinforcement Learning
Clustered Vehicular Federated Learning: Process and Optimization
Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control
Achieving Privacy-Preserving and Verifiable Data Sharing in Vehicular Fog With Blockchain
A Stochastic Model for Chain Collisions of Vehicles Equipped With Vehicular Communications
Accelerating Two-Phase Multiobjective Evolutionary Algorithm for Electric Location-Routing Problems
HV-BEV: Decoupling Horizontal and Vertical Feature Sampling for Multi-View 3D Object Detection
A Self-Organizing Frequency Approach to 802.11p Channel Estimation
TSceneJAL: Joint Active Learning of Traffic Scenes for 3D Object Detection
H²DGL: Adaptive Metapath-Based Dynamic Graph Learning for Supply Forecasting in Logistics System
A Blockchain-Powered Malicious Node Detection in Internet of Autonomous Vehicles
An Analytical Approach to the Predictive Energy Management of Connected HEVs: What Information Do We Need to Guarantee Global Optimality?
Traffic Control in a Mixed Autonomy Scenario at Urban Intersections: An Optimal Control Approach
Automated Intersection Mapping From Crowd Trajectory Data
Travel Time Dynamics for Intelligent Transportation Systems: Theory and Applications
Cross Array and Rank-1 MUSIC Algorithm for Acoustic Highway Lane Detection
TAAODV: TOPSIS-Aided AODV Routing Protocol to Diffuse Mass Information in the Unstable and High-Density UAV Ad Hoc Networks
Beyond-Line-of-Sight Identification by Using Vehicle-to-Vehicle Communication
A Novel Cascade Path Planning Algorithm for Autonomous Truck-Trailer Parking
Secure Handover in 5G-V2X: Detecting and Localizing DoS Attack to Ensure Reliable Communication
TrafficMCTS: A Closed-Loop Traffic Flow Generation Framework With Group-Based Monte Carlo Tree Search
Self-Supervise Reinforcement Learning Method for Vacant Parking Space Detection Based on Task Consistency and Corrupted Rewards
Detection of Parked Vehicles Using Spatiotemporal Maps
Design of an Acceleration Redistribution Cooperative Strategy for Collision Avoidance System Based on Dynamic Weighted Multi-Objective Model Predictive Controller
Sensing-Assisted Intelligent Transportation System With Adaptive Power Allocation and Automatic Beam Control
A Cognitive Control Method for Cost-Efficient CBTC Systems With Smart Grids
Analytical Calculation and Experimental Verification of Superconducting Electrodynamic Suspension System Using Null-Flux Ground Coils
FlexPool: A Distributed Model-Free Deep Reinforcement Learning Algorithm for Joint Passengers and Goods Transportation
Privacy-Preserved Pseudonym Scheme for Fog Computing Supported Internet of Vehicles
Strategic Hub-Based Platoon Coordination Under Uncertain Travel Times
Improving Urban Travel Time Estimation Using Gaussian Mixture Models
Consensus-Based Cooperative Control for Multi-Platoon Under the Connected Vehicles Environment
Convergence Analysis of Cooperative Braking Control for Interconnected Vehicle Systems
A Comprehensive Evaluation Framework and a Comparative Study for Human Detectors
Intelligent Carpool Routing for Urban Ridesharing by Mining GPS Trajectories
Modeling and Algorithms of GPS Data Reduction for the Qinghai-Tibet Railway
C-HealthIER: A Cooperative Health Intelligent Emergency Response System for C-ITS
Robust, Resilient and Reliable Architecture for V2X Communications
On Closed-Loop Bicycle Availability Prediction
Efficient Energy and Delay Tradeoff for Vessel Communications in SDN Based Maritime Wireless Networks
Automatic Rotor Speed Reference Generator for Electric Vehicles Under Slip Constraints
Robust Vehicle Detection and Distance Estimation Under Challenging Lighting Conditions
Appearance-Based Loop Closure Detection via Locality-Driven Accurate Motion Field Learning
Integrated Resource Assignment and Scheduling Optimization With Limited Critical Equipment Constraints at an Automated Container Terminal
A Parallel Computing Framework for Large-Scale Air Traffic Flow Optimization
Maximum-Likelihood Acceleration Estimation From Existing Roadway Vehicle Detectors
On the Problem of Pairing Aircraft for Closely Spaced Parallel Approaches
LMI-Based Synthesis of String-Stable Controller for Cooperative Adaptive Cruise Control
Special Issue on 3D Sensing in Intelligent Transportation
Deep Reinforcement Learning-Based Adaptive Computation Offloading and Power Allocation in Vehicular Edge Computing Networks
Privacy-Preserving Distributed Optimal Control for Vehicular Platoon With Quantization
A Novel Closed-Loop Frequency Control Approach for Wireless Power Transfer Systems in On-Road Electric Vehicles
Hierarchical Predictive Control of Network Traffic Signals Using Link Transmission Model With Queue Dynamics
ChatTraffic: Text-to-Traffic Generation via Diffusion Model
Integrated Production-Transportation Planning for Supply Chain With Perishable Food and Shared Returnable Transport Items
Efficient Collective Spatial Keyword Query Processing on Road Networks
Deep Learning for Intelligent Transportation Systems: A Survey of Emerging Trends
L-Shape Model Switching-Based Precise Motion Tracking of Moving Vehicles Using Laser Scanners
Dynamic Robustness Analysis of a Two-Layer Rail Transit Network Model
Neuroadaptive Combined Lateral and Longitudinal Control of Highway Vehicles Using RBF Networks
Geometry-Aware Network for Unsupervised Learning of Monocular Camera's Ego-Motion
Spatio-Temporal Profiling of Public Transport Delays Based on Large-Scale Vehicle Positioning Data From GPS in Wrocław
Logistical Planning for Electric Vehicles Under Time-Dependent Stochastic Traffic
Optimum Management of Urban Traffic Flow Based on a Stochastic Dynamic Model
A Functional Data Analysis Approach to Traffic Volume Forecasting
Vehicle Cooperative Positioning With Tightly Coupled GNSS/INS/UWB Integration Based on Improved Multiple Fading Factors and Adaptive Cost Function
The Devil is in the Details: An Efficient Convolutional Neural Network for Transport Mode Detection
Decentralized Human-Like Ramp Merging Decision-Making and Control Based on a Stochastic Potential Game
Cascading Failure in Multiple Critical Infrastructure Interdependent Networks of Syncretic Railway System
A Simulation Study on Effects of Platooning Gaps on Drivers of Conventional Vehicles in Highway Merging Situations
A Novel Network Architecture for C/U-Plane Staggered Handover in 5G Decoupled Heterogeneous Railway Wireless Systems
Characterizing Heterogeneous Traffic Flow at a Slope Bottleneck via Cellular Automaton Model
Synchronous Control of Vehicle Following Behavior and Distance Under the Safe and Efficient Steady-Following State: Two Case Studies of High-Speed Train Following Control
A WPT-Enabled UAV-Assisted Condition Monitoring Scheme for Wireless Sensor Networks
A Proactive Decision Support Method for Ship Collision Awareness Incorporating Ship Maneuvering
Flight Mastery in Turbulent Skies: Shared Control and Curriculum Reinforcement Learning for Crosswind Landing
A Graph-Based Approach to the Topological Optimization of Cycling Networks for the Improvement of Safety and Comfort of Cyclists
PNNUAD: Perception Neural Networks Uncertainty Aware Decision-Making for Autonomous Vehicle
A Dynamic Neural Field Approach for Intelligent Cockpits: Online Learning and Prediction of Traveling Routines
Switching-Based Stochastic Model Predictive Control Approach for Modeling Driver Steering Skill
NetTraj: A Network-Based Vehicle Trajectory Prediction Model With Directional Representation and Spatiotemporal Attention Mechanisms
HGAT and Multi-Agent RL-Based Method for Multi-Intersection Traffic Signal Control
FHSI and QRCPE-Based Low-Light Enhancement With Application to Night Traffic Monitoring Images
A Novel Speed-Density Relationship Model Based on the Energy Conservation Concept
Adaptive Vehicle Navigation With En Route Stochastic Traffic Information
Tracking and Pairing Vehicle Headlight in Night Scenes
Contrastive Learning-Based Deep Embedded Clustering and the TCN-DMAttention Model for Traffic Congestion Prediction
Simulation of Crowd Evacuation in Subway Stations Under Flood Disasters
Intelligent Deep Fusion Network for Anomaly Identification in Maritime Transportation Systems
Energy-Efficient Federated Learning Training Optimization for Digital Twin Driven 6G Air-Ground Integrated Vehicular Networks
An Optimal Velocity-Planning Scheme for Vehicle Energy Efficiency Through Probabilistic Prediction of Traffic-Signal Timing
RF-DCM: Multi-Granularity Deep Convolutional Model Based on Feature Recalibration and Fusion for Driver Fatigue Detection
Blockchain-Based Secure Mist Computing Network Architecture for Intelligent Transportation Systems
Joint Perception and Prediction for Autonomous Driving: A Survey
Optimal Power Management in DC Microgrids With Applications to Dual-Source Trolleybus Systems
Deep Dual-Resolution Networks for Real-Time and Accurate Semantic Segmentation of Traffic Scenes
Intelligent Hybrid Electric Vehicle ACC With Coordinated Control of Tracking Ability, Fuel Economy, and Ride Comfort
Blockchain-Based Multi-Access Edge Computing for Future Vehicular Networks: A Deep Compressed Neural Network Approach
Eco-Driving Control Architecture for Platoons of Uncertain Heterogeneous Nonlinear Connected Autonomous Electric Vehicles
IG-Net: An Interaction Graph Network Model for Metro Passenger Flow Forecasting
Online Public Transit Ridership Monitoring Through Passive WiFi Sensing
Platoon Communication Power Control Under V2V Data Uncertainty: A Robust DRL Approach
Situation Assessment of an Autonomous Emergency Brake for Arbitrary Vehicle-to-Vehicle Collision Scenarios
Scalable Algorithms for Bicriterion Trip-Based Transit Routing
Fundamental Diagram Estimation Through Passing Rate Measurements in Congestion
An Investigation of the Effect of Smart Cockpit Layout on Distracted Driving Behavior Based on Real Road Experiments
A Novel Hybrid Model Based on VMD-KAN-Informer for Railway Traction Power Grid Short-Term Load Forecasting
Blockchain-Enabled Federated Learning for Enhanced Collaborative Intrusion Detection in Vehicular Edge Computing
Dynamic Crowd Accident-Risk Assessment Based on Internal Energy and Information Entropy for Large-Scale Crowd Flow Considering COVID-19 Epidemic
Crowdsensing-Based Consensus Incident Report for Road Traffic Acquisition
Trip Pricing Scheme for Electric Vehicle Sharing Network With Demand Prediction