{"id":"https://openalex.org/W7202371264","doi":"https://doi.org/10.48550/arxiv.2608.12198","title":"Learning-Based Behavior Planning for Automated Driving: Real-World Integration and Deployment","display_name":"Learning-Based Behavior Planning for Automated Driving: Real-World Integration and Deployment","publication_year":2026,"publication_date":"2026-08-12","ids":{"openalex":"https://openalex.org/W7202371264","doi":"https://doi.org/10.48550/arxiv.2608.12198"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2608.12198","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2608.12198","pdf_url":"https://arxiv.org/pdf/2608.12198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2608.12198","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109638856","display_name":"Jean-Pierre Busch","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Busch, Jean-Pierre","raw_affiliation_strings":["researchers at the Institute for Automotive Engineering (ika) , RWTH Aachen University , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"researchers at the Institute for Automotive Engineering (ika) , RWTH Aachen University , Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121840235","display_name":"Guido Linden","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Linden, Guido","raw_affiliation_strings":["researchers at the Institute for Automotive Engineering (ika) , RWTH Aachen University , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"researchers at the Institute for Automotive Engineering (ika) , RWTH Aachen University , Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126791746","display_name":"Jan Bergmann","orcid":"https://orcid.org/0000-0003-3566-1979","observed_orcids":["https://orcid.org/0000-0003-3566-1979"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bergmann, Jan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128183661","display_name":"Lutz Eckstein","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eckstein, Lutz","raw_affiliation_strings":["researchers at the Institute for Automotive Engineering (ika) , RWTH Aachen University , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"researchers at the Institute for Automotive Engineering (ika) , RWTH Aachen University , Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9613999724388123,"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":0.9613999724388123,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.004600000102072954,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.004399999976158142,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/autonomous-driving","display_name":"autonomous driving","score":0.8399999737739563},{"id":"https://openalex.org/keywords/safety-constraints","display_name":"safety constraints","score":0.9120000004768372},{"id":"https://openalex.org/keywords/explainability","display_name":"explainability","score":0.7820000052452087},{"id":"https://openalex.org/keywords/trustworthiness","display_name":"trustworthiness","score":0.7929999828338623},{"id":"https://openalex.org/keywords/safety-assurance","display_name":"safety assurance","score":0.796999990940094},{"id":"https://openalex.org/keywords/real-world-deployment","display_name":"field deployment","score":0.7960000038146973},{"id":"https://openalex.org/keywords/closed-loop-operation","display_name":"closed-loop operation","score":0.5960000157356262},{"id":"https://openalex.org/keywords/urban-driving","display_name":"urban driving","score":0.6200000047683716},{"id":"https://openalex.org/keywords/research-vehicle","display_name":"research vehicle","score":0.6539999842643738}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7839999794960022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6516000032424927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5120000243186951},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.48559999465942383},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.46299999952316284},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.43560001254081726},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4099000096321106},{"id":"https://openalex.org/C153701036","wikidata":"https://www.wikidata.org/wiki/Q659974","display_name":"Trustworthiness","level":2,"score":0.39079999923706055},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3409000039100647},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.31779998540878296},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3172999918460846},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31690001487731934},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.31119999289512634},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3095000088214874},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2976999878883362},{"id":"https://openalex.org/C192183473","wikidata":"https://www.wikidata.org/wiki/Q131133","display_name":"Determinism","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28999999165534973},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.27959999442100525},{"id":"https://openalex.org/C47822265","wikidata":"https://www.wikidata.org/wiki/Q854457","display_name":"Complex system","level":2,"score":0.2757999897003174},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.25769999623298645}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2608.12198","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2608.12198","pdf_url":"https://arxiv.org/pdf/2608.12198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2608.12198","doi":"https://doi.org/10.48550/arxiv.2608.12198","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2608.12198","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2608.12198","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2608.12198","pdf_url":"https://arxiv.org/pdf/2608.12198","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.47999998927116394}],"study_designs":[],"awards":[{"id":"https://openalex.org/G1756826099","display_name":"AI-enhanced collective intelligence for resilient, ethical and user-centric awareness and decision making in CCAM applications","funder_award_id":"101202457","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4343136197","display_name":"AI-based CCAM: Trustworthy, Explainable, and Accountable","funder_award_id":"101076754","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7202371264.pdf","grobid_xml":"https://content.openalex.org/works/W7202371264.grobid-xml"},"referenced_works_count":8,"referenced_works":["https://openalex.org/W2905173465","https://openalex.org/W4390871698","https://openalex.org/W4395065796","https://openalex.org/W4401109681","https://openalex.org/W4401416666","https://openalex.org/W4404350186","https://openalex.org/W4415935425","https://openalex.org/W7171870421"],"related_works":["https://openalex.org/W4389667126","https://openalex.org/W3203018838","https://openalex.org/W4385301013","https://openalex.org/W4408697144","https://openalex.org/W4383108473","https://openalex.org/W4383108220","https://openalex.org/W3120380951","https://openalex.org/W4413926150","https://openalex.org/W7133056742","https://openalex.org/W7154630467"],"abstract_inverted_index":{"Recent":[0],"research":[1,132],"in":[2,25,109],"machine":[3,60],"and":[4,32,39,41,65,83,95,99,124],"deep":[5,75],"learning":[6,61],"has":[7],"shown":[8],"the":[9,18,57,63,66,104],"potential":[10],"of":[11,21,34,59,68],"learningbased":[12],"motion":[13],"planning":[14,53],"approaches":[15],"to":[16,78],"improve":[17],"driving":[19,85,107],"behavior":[20,108],"automated":[22],"vehicles,":[23],"especially":[24],"complex":[26,30,80],"environments.":[27],"However,":[28],"their":[29],"nature":[31],"lack":[33],"transparency":[35],"can":[36],"hinder":[37],"explainability":[38],"trustworthiness":[40],"complicate":[42],"safety":[43,100],"assurance.":[44],"Motivated":[45],"by":[46],"these":[47],"challenges,":[48],"we":[49,72],"propose":[50,84],"a":[51,74],"hybrid":[52],"architecture":[54],"that":[55],"combines":[56],"advantages":[58],"with":[62],"verifiability":[64],"determinism":[67],"classical":[69],"approaches.":[70],"Specifically,":[71],"developed":[73],"neural":[76],"network":[77],"interpret":[79],"traffic":[81],"scenes":[82],"behavior,":[86],"while":[87],"an":[88],"optimization-based":[89],"supervision":[90],"layer":[91],"validates":[92],"this":[93],"proposal":[94],"enforces":[96],"explicit":[97],"drivability":[98],"constraints.":[101],"We":[102],"evaluate":[103],"learned":[105],"planner's":[106],"open-loop":[110],"studies":[111],"on":[112,130],"real-world":[113,128],"urban":[114],"data,":[115],"discuss":[116],"system":[117],"integration":[118],"aspects":[119],"for":[120],"stable":[121],"closed-loop":[122],"operation,":[123],"report":[125],"results":[126],"from":[127],"deployment":[129],"our":[131],"vehicle":[133],"karl..":[134]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2026-08-14T00:00:00"}