{"id":"https://openalex.org/W4388017348","doi":"https://doi.org/10.1109/access.2023.3328628","title":"A Self-Driving Decision Making With Reachable Path Analysis and Interaction-Aware Speed Profiling","display_name":"A Self-Driving Decision Making With Reachable Path Analysis and Interaction-Aware Speed Profiling","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4388017348","doi":"https://doi.org/10.1109/access.2023.3328628"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3328628","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3328628","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10301421.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10301421.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081132237","display_name":"Yuho Song","orcid":"https://orcid.org/0000-0002-8830-015X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yuho Song","raw_affiliation_strings":["Department of Automotive Engineering, Hanyang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008108956","display_name":"Sangwon Han","orcid":"https://orcid.org/0000-0002-3447-2482"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangwon Han","raw_affiliation_strings":["Department of Automotive Engineering (Automotive-Computer Convergence), Hanyang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering (Automotive-Computer Convergence), Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085528812","display_name":"Kunsoo Huh","orcid":"https://orcid.org/0000-0002-7179-7841"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kunsoo Huh","raw_affiliation_strings":["Department of Automotive Engineering, Hanyang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Automotive Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081132237"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4551,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62384007,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"122302","last_page":"122314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7497225999832153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7306284308433533},{"id":"https://openalex.org/keywords/profiling","display_name":"Profiling (computer programming)","score":0.6446831226348877},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.636244535446167},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5678368806838989},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5391559600830078},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.45479729771614075},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.45472729206085205},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42453593015670776},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41035932302474976},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39066243171691895},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.3738858699798584},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33839496970176697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20969447493553162},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12217995524406433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11627236008644104},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09642454981803894},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0962771475315094},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.08648058772087097}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7497225999832153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7306284308433533},{"id":"https://openalex.org/C187191949","wikidata":"https://www.wikidata.org/wiki/Q1138496","display_name":"Profiling (computer programming)","level":2,"score":0.6446831226348877},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.636244535446167},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5678368806838989},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5391559600830078},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.45479729771614075},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.45472729206085205},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42453593015670776},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41035932302474976},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39066243171691895},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3738858699798584},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33839496970176697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20969447493553162},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12217995524406433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11627236008644104},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09642454981803894},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0962771475315094},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.08648058772087097},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3328628","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3328628","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10301421.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:4df43fa928f5459eb6b7ab163d050862","is_oa":true,"landing_page_url":"https://doaj.org/article/4df43fa928f5459eb6b7ab163d050862","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 122302-122314 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3328628","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3328628","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10301421.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5899999737739563}],"awards":[{"id":"https://openalex.org/G5337702532","display_name":null,"funder_award_id":"based","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G6495141380","display_name":null,"funder_award_id":"20018101","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G8582691448","display_name":null,"funder_award_id":"MOTIE, Korea","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G992484961","display_name":null,"funder_award_id":"Korea","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388017348.pdf","grobid_xml":"https://content.openalex.org/works/W4388017348.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W82705568","https://openalex.org/W131069610","https://openalex.org/W1503567288","https://openalex.org/W1544016679","https://openalex.org/W1969483458","https://openalex.org/W1969586343","https://openalex.org/W1971998222","https://openalex.org/W1977085960","https://openalex.org/W2034966370","https://openalex.org/W2055404495","https://openalex.org/W2071984725","https://openalex.org/W2095345422","https://openalex.org/W2106866030","https://openalex.org/W2120179083","https://openalex.org/W2134765105","https://openalex.org/W2152536965","https://openalex.org/W2294480821","https://openalex.org/W2313274380","https://openalex.org/W2339179100","https://openalex.org/W2505763307","https://openalex.org/W2514762535","https://openalex.org/W2565410644","https://openalex.org/W2741086815","https://openalex.org/W2772349589","https://openalex.org/W2783951406","https://openalex.org/W2896644620","https://openalex.org/W2904339943","https://openalex.org/W2950170662","https://openalex.org/W2970613039","https://openalex.org/W2971295974","https://openalex.org/W2998853730","https://openalex.org/W3002132318","https://openalex.org/W3048052171","https://openalex.org/W3173490703","https://openalex.org/W4200434356","https://openalex.org/W4300958603","https://openalex.org/W4313464611","https://openalex.org/W4385151924","https://openalex.org/W6605295560","https://openalex.org/W6676114642","https://openalex.org/W6678081342"],"related_works":["https://openalex.org/W4381746183","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2904203243","https://openalex.org/W4395071568","https://openalex.org/W3139139461","https://openalex.org/W2125569607","https://openalex.org/W2106119116"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,31],"behavior":[4,25],"planning":[5,26,43,52,80],"algorithm":[6],"for":[7,105,157],"self-driving":[8],"vehicles":[9,134],"to":[10,172],"handle":[11],"lane":[12],"keeping,":[13],"speed":[14,47,96,118],"control":[15],"considering":[16,85],"inter-vehicle":[17],"space,":[18],"and":[19,45,75,83,117,125,135,151,162],"collision":[20,149],"avoidance":[21],"under":[22],"uncertainty.":[23],"The":[24,50,78],"approach":[27,143],"is":[28,71,121,144],"structured":[29],"as":[30],"hierarchically":[32],"organized":[33],"Markov":[34],"Decision":[35],"Process":[36],"(MDP)":[37],"comprising":[38],"two":[39],"components:":[40],"the":[41,46,86,91,95,100,106,110,115,130,145,158,174,177],"path":[42,51,56,60,69,79,92,116],"MDP":[44,53,81,98],"profiling":[48,97],"MDP.":[49],"generates":[54],"multiple":[55],"candidates":[57],"using":[58,123],"lane-change":[59],"data":[61],"collected":[62],"from":[63],"human":[64],"drivers.":[65],"Evaluation":[66,113],"of":[67,90,103,114,133,141,147,160,176],"each":[68],"candidate":[70],"based":[72,128],"on":[73,109,129],"reward":[74,124],"penalty":[76,126],"terms.":[77],"spans":[82],"updates":[84],"predicted":[87],"simulation":[88],"time":[89],"candidate.":[93],"Subsequently,":[94],"determines":[99],"optimal":[101],"sequence":[102],"speeds":[104],"host":[107],"vehicle":[108],"planned":[111],"path.":[112],"profile":[119],"utility":[120],"performed":[122],"terms":[127],"current":[131],"states":[132],"road":[136],"structure.":[137],"A":[138],"unique":[139],"aspect":[140],"this":[142],"incorporation":[146],"uncertainty-aware":[148],"risk":[150],"interaction-aware":[152],"gap":[153],"penalty,":[154],"which":[155],"account":[156],"uncertainty":[159],"perception":[161],"traffic":[163],"motion.":[164],"Various":[165],"cut-in":[166],"scenarios":[167],"are":[168],"presented":[169],"in":[170],"simulations":[171],"demonstrate":[173],"effectiveness":[175],"proposed":[178],"algorithm.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}
