{"id":"https://openalex.org/W4223574846","doi":"https://doi.org/10.1109/iceic54506.2022.9748810","title":"Reinforcement Learning for Autonomous Vehicle using MPC in Highway Situation","display_name":"Reinforcement Learning for Autonomous Vehicle using MPC in Highway Situation","publication_year":2022,"publication_date":"2022-02-06","ids":{"openalex":"https://openalex.org/W4223574846","doi":"https://doi.org/10.1109/iceic54506.2022.9748810"},"language":"en","primary_location":{"id":"doi:10.1109/iceic54506.2022.9748810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceic54506.2022.9748810","pdf_url":null,"source":{"id":"https://openalex.org/S4363608213","display_name":"2022 International Conference on Electronics, Information, and Communication (ICEIC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Electronics, Information, and Communication (ICEIC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100461246","display_name":"Yu-Jin Kim","orcid":"https://orcid.org/0009-0000-9747-3901"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yujin Kim","raw_affiliation_strings":["Korea University,Dept. of Electrical Engineering,Seoul,Korea","Dept. of Electrical Engineering, Korea University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Korea University,Dept. of Electrical Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Electrical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031063165","display_name":"Dong-Sung Pae","orcid":"https://orcid.org/0000-0003-1245-7318"},"institutions":[{"id":"https://openalex.org/I157264075","display_name":"Sangmyung University","ror":"https://ror.org/01x4whx42","country_code":"KR","type":"education","lineage":["https://openalex.org/I157264075"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Sung Pae","raw_affiliation_strings":["Sangmyung University,Dept. of Software,Cheonan,Korea","Dept. of Software, Sangmyung University, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Sangmyung University,Dept. of Software,Cheonan,Korea","institution_ids":["https://openalex.org/I157264075"]},{"raw_affiliation_string":"Dept. of Software, Sangmyung University, Cheonan, Korea","institution_ids":["https://openalex.org/I157264075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068140029","display_name":"Sunho Jang","orcid":"https://orcid.org/0000-0003-2484-4630"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sun-Ho Jang","raw_affiliation_strings":["Korea University,Dept. of Electrical Engineering,Seoul,Korea","Dept. of Electrical Engineering, Korea University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Korea University,Dept. of Electrical Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Electrical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101533866","display_name":"Seong-Woo Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I157264075","display_name":"Sangmyung University","ror":"https://ror.org/01x4whx42","country_code":"KR","type":"education","lineage":["https://openalex.org/I157264075"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong-Woo Kang","raw_affiliation_strings":["Sangmyung University,Dept. of Human Intelligence and Robot Engineering,Cheonan,Korea","Dept. of Human Intelligence and Robot Engineering, Sangmyung University, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Sangmyung University,Dept. of Human Intelligence and Robot Engineering,Cheonan,Korea","institution_ids":["https://openalex.org/I157264075"]},{"raw_affiliation_string":"Dept. of Human Intelligence and Robot Engineering, Sangmyung University, Cheonan, Korea","institution_ids":["https://openalex.org/I157264075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079659183","display_name":"Myo Taeg Lim","orcid":"https://orcid.org/0000-0003-2990-8066"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myo-Taeg Lim","raw_affiliation_strings":["Korea University,Dept. of Electrical Engineering,Seoul,Korea","Dept. of Electrical Engineering, Korea University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Korea University,Dept. of Electrical Engineering,Seoul,Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"Dept. of Electrical Engineering, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100461246"],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":1.2983,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80480676,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.996399998664856,"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":0.996399998664856,"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":0.9950000047683716,"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":0.9718999862670898,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8255829811096191},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7213233709335327},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7197673320770264},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6877021193504333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6305562853813171},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5951904058456421},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5499498248100281},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5356056094169617},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4858529269695282},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46144264936447144},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4434589743614197},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4430767595767975},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.44265228509902954},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3324960172176361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3070525527000427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20613190531730652},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18217018246650696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17079466581344604},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15640249848365784},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.08107122778892517}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8255829811096191},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7213233709335327},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7197673320770264},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6877021193504333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6305562853813171},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5951904058456421},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5499498248100281},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5356056094169617},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4858529269695282},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46144264936447144},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4434589743614197},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4430767595767975},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.44265228509902954},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3324960172176361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3070525527000427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20613190531730652},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18217018246650696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17079466581344604},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15640249848365784},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.08107122778892517},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iceic54506.2022.9748810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceic54506.2022.9748810","pdf_url":null,"source":{"id":"https://openalex.org/S4363608213","display_name":"2022 International Conference on Electronics, Information, and Communication (ICEIC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Electronics, Information, and Communication (ICEIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1726459704","https://openalex.org/W2952762354","https://openalex.org/W2963864421","https://openalex.org/W2965703230","https://openalex.org/W3117126948","https://openalex.org/W3191994656","https://openalex.org/W6684921986"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2101188133","https://openalex.org/W2743212448","https://openalex.org/W2742483371","https://openalex.org/W4381746183","https://openalex.org/W128654086","https://openalex.org/W2120267624"],"abstract_inverted_index":{"Path":[0],"planning":[1,86],"for":[2,36,155],"Autonomous":[3],"Vehicle(AV)":[4],"is":[5,12,30,66,92,153],"a":[6,38,84],"challenging":[7],"problem,":[8],"as":[9,110],"the":[10,16,21,24,33,53,61,68,75,98,103,131],"vehicle":[11,45],"required":[13],"to":[14,74,94],"obey":[15],"traffic":[17],"rules":[18],"while":[19],"avoiding":[20],"collision":[22],"with":[23,63,139],"other":[25],"vehicles.":[26],"Model":[27],"Predictive":[28],"Control(MPC)":[29],"one":[31,59],"of":[32,60,77,119,137,141],"popular":[34],"approach":[35,65],"proposing":[37],"feasible":[39],"and":[40,51,128,143],"stable":[41],"path":[42,85,121,140,157],"by":[43,147],"reflecting":[44],"dynamics":[46],"in":[47,96,122,125],"solving":[48],"objective":[49,112],"function":[50,105],"constraining":[52],"expected":[54],"future":[55,79],"control":[56],"input.":[57],"However,":[58],"drawbacks":[62],"this":[64],"that":[67,101,115],"demanded":[69],"computational":[70],"power":[71],"increases":[72],"proportionally":[73],"number":[76],"considered":[78],"inputs.":[80],"This":[81],"paper":[82],"presents":[83],"algorithm":[87],"using":[88],"Reinforcement":[89],"Learning(RL).":[90],"RL":[91],"similar":[93],"MPC":[95,120,142],"finding":[97],"optimal":[99],"solution":[100],"maximizes":[102],"reward":[104],"which":[106],"can":[107],"be":[108],"seen":[109],"intrinsic":[111],"function.":[113],"In":[114],"respect,":[116],"adequate":[117],"employment":[118],"training":[123],"resulted":[124],"improved":[126],"efficiency":[127],"performance.":[129],"Through":[130],"simulations,":[132],"proposed":[133],"method":[134],"showed":[135],"98%":[136],"similarity":[138],"reduced":[144],"computation":[145],"time":[146],"91.13%":[148],"on":[149],"average,":[150],"thus":[151],"it":[152],"qualified":[154],"real-time":[156],"planning.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}