{"id":"https://openalex.org/W4399310934","doi":"https://doi.org/10.1109/access.2024.3408223","title":"Cooperative Merging Control Based on Reinforcement Learning With Dynamic Waypoint","display_name":"Cooperative Merging Control Based on Reinforcement Learning With Dynamic Waypoint","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4399310934","doi":"https://doi.org/10.1109/access.2024.3408223"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3408223","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3408223","pdf_url":null,"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://doi.org/10.1109/access.2024.3408223","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039917417","display_name":"Xiao Yang","orcid":"https://orcid.org/0009-0004-5749-837X"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Yang","raw_affiliation_strings":["School of Transportation, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0004-5749-837X","affiliations":[{"raw_affiliation_string":"School of Transportation, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100689490","display_name":"Hongfei Liu","orcid":"https://orcid.org/0000-0003-4637-9151"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongfei Liu","raw_affiliation_strings":["School of Transportation, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-4637-9151","affiliations":[{"raw_affiliation_string":"School of Transportation, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100725883","display_name":"Miao Xu","orcid":"https://orcid.org/0000-0001-9684-0642"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Xu","raw_affiliation_strings":["School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, China"],"raw_orcid":"https://orcid.org/0000-0001-9684-0642","affiliations":[{"raw_affiliation_string":"School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102973113","display_name":"Jintao Wan","orcid":"https://orcid.org/0009-0000-7445-2518"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jintao Wan","raw_affiliation_strings":["School of Transportation, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0000-7445-2518","affiliations":[{"raw_affiliation_string":"School of Transportation, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.3283,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53676329,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"12","issue":null,"first_page":"81581","last_page":"81592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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":0.9994999766349792,"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/T10524","display_name":"Traffic control and management","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973000288009644,"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/waypoint","display_name":"Waypoint","score":0.9515583515167236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7493735551834106},{"id":"https://openalex.org/keywords/platoon","display_name":"Platoon","score":0.6958935260772705},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6693219542503357},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5853824019432068},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5095039010047913},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.485965371131897},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44386667013168335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42754632234573364},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4273243546485901},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4190168082714081},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4081394672393799},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33303195238113403},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.27110373973846436},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14521226286888123}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9515583515167236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7493735551834106},{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.6958935260772705},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6693219542503357},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5853824019432068},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5095039010047913},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.485965371131897},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44386667013168335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42754632234573364},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4273243546485901},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4190168082714081},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4081394672393799},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33303195238113403},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27110373973846436},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14521226286888123},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3408223","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3408223","pdf_url":null,"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:4babd05db72c4eecbf6dc6989ae3b55e","is_oa":true,"landing_page_url":"https://doaj.org/article/4babd05db72c4eecbf6dc6989ae3b55e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 81581-81592 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3408223","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3408223","pdf_url":null,"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":[],"awards":[{"id":"https://openalex.org/G6649016953","display_name":null,"funder_award_id":"52372297","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1973688634","https://openalex.org/W2050550560","https://openalex.org/W2119744384","https://openalex.org/W2161009228","https://openalex.org/W2162908568","https://openalex.org/W2199000878","https://openalex.org/W2332638321","https://openalex.org/W2736601468","https://openalex.org/W2770121223","https://openalex.org/W2884690226","https://openalex.org/W2890965997","https://openalex.org/W2990585596","https://openalex.org/W3021311833","https://openalex.org/W3092297010","https://openalex.org/W3118975573","https://openalex.org/W3119061616","https://openalex.org/W3137786033","https://openalex.org/W3174288549","https://openalex.org/W3212504492","https://openalex.org/W3217237941","https://openalex.org/W3217400267","https://openalex.org/W4281711784","https://openalex.org/W4285227658","https://openalex.org/W4292873689","https://openalex.org/W4297347510","https://openalex.org/W4308745866","https://openalex.org/W4327661580","https://openalex.org/W4377968463","https://openalex.org/W4380235474","https://openalex.org/W6741002519","https://openalex.org/W6754475338","https://openalex.org/W7067066666"],"related_works":["https://openalex.org/W4286572054","https://openalex.org/W2555207388","https://openalex.org/W3138430576","https://openalex.org/W4225571923","https://openalex.org/W3212257828","https://openalex.org/W2999580272","https://openalex.org/W4297873223","https://openalex.org/W3009457412","https://openalex.org/W2350784623","https://openalex.org/W2126211886"],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1,116],"algorithms":[2],"can":[3],"cooperate":[4],"with":[5,125],"trajectory":[6],"planning":[7],"idea":[8],"to":[9,72,104],"improve":[10],"the":[11,15,21,26,44,51,58,75,78,87,106],"training":[12,137],"efficiency":[13],"in":[14,49,74,91],"field":[16],"of":[17,25,77,93],"autonomous":[18],"driving":[19],"for":[20,43],"fixed":[22],"geometric":[23],"constraints":[24],"road":[27],"and":[28,81,96,98,120,123,141],"limited":[29],"dynamics.":[30],"In":[31],"this":[32],"study,":[33],"we":[34,62,85],"propose":[35],"a":[36,65],"Dynamic":[37],"Waypoint":[38],"Proximal":[39],"Policy":[40],"Optimization(DW-PPO)":[41],"framework":[42],"merging":[45,102,107],"into":[46],"platoon":[47,59],"scenario,":[48],"which":[50],"target":[52],"location":[53],"is":[54],"constantly":[55],"changing":[56],"as":[57],"travels.":[60],"Specifically,":[61],"set":[63],"up":[64],"waypoint":[66,88],"generator":[67],"based":[68],"on":[69,113],"Bezier":[70],"curve":[71],"aid":[73],"composition":[76],"state":[79],"space":[80],"reward":[82,90,103],"calculation.":[83],"Moreover,":[84],"refine":[86],"tracking":[89],"terms":[92],"both":[94],"distance":[95],"direction":[97],"add":[99],"an":[100],"additional":[101],"complete":[105],"task.":[108],"We":[109],"test":[110],"our":[111,132],"model":[112],"three":[114],"dimensions:":[115],"performance,":[117,119],"control":[118,139],"generalization":[121,142],"performance":[122],"compare":[124],"baseline":[126],"model.":[127],"Experimental":[128],"results":[129],"show":[130],"that":[131],"proposed":[133],"method":[134],"has":[135],"better":[136],"efficiency,":[138],"stability":[140],"ability.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}