{"id":"https://openalex.org/W4391793342","doi":"https://doi.org/10.1109/itsc57777.2023.10422159","title":"Comprehensive Training and Evaluation on Deep Reinforcement Learning for Automated Driving in Various Simulated Driving Maneuvers","display_name":"Comprehensive Training and Evaluation on Deep Reinforcement Learning for Automated Driving in Various Simulated Driving Maneuvers","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391793342","doi":"https://doi.org/10.1109/itsc57777.2023.10422159"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.tudelft.nl/file/File_007e65f2-101d-4c29-83fb-8b60e224fc73","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050927724","display_name":"Yongqi Dong","orcid":"https://orcid.org/0000-0003-1159-9584"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Yongqi Dong","raw_affiliation_strings":["Delft University of Technology,Department of Transport and Planning,Delft,CN,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Transport and Planning,Delft,CN,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092230950","display_name":"Tobias Datema","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Tobias Datema","raw_affiliation_strings":["Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092230951","display_name":"Vincent Wassenaar","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Vincent Wassenaar","raw_affiliation_strings":["Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092230952","display_name":"Joris van de Weg","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Joris Van de Weg","raw_affiliation_strings":["Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092230953","display_name":"Cahit Tolga Kopar","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Cahit Tolga Kopar","raw_affiliation_strings":["Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5092230954","display_name":"Harim Suleman","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Harim Suleman","raw_affiliation_strings":["Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Faculty of Electrical Engineering, Mathematics &#x0026; Computer Science,Delft,CN,the Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5050927724"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":0.2203,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53442836,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6165","last_page":"6170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9639000296592712,"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":0.9639000296592712,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7161779403686523},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.7099595069885254},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7027749419212341},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5390298962593079},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40641212463378906}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7161779403686523},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.7099595069885254},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7027749419212341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5390298962593079},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40641212463378906},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:7262e4d4-2415-4c39-a326-e0488b2b01d5","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:7262e4d4-2415-4c39-a326-e0488b2b01d5","pdf_url":"https://repository.tudelft.nl/file/File_007e65f2-101d-4c29-83fb-8b60e224fc73","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:tudelft.nl:uuid:7262e4d4-2415-4c39-a326-e0488b2b01d5","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:7262e4d4-2415-4c39-a326-e0488b2b01d5","pdf_url":"https://repository.tudelft.nl/file/File_007e65f2-101d-4c29-83fb-8b60e224fc73","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5365867299","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G6101803059","display_name":null,"funder_award_id":"17187","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G629491556","display_name":null,"funder_award_id":"(NWO)","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391793342.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1584456573","https://openalex.org/W2563338958","https://openalex.org/W2583993537","https://openalex.org/W2616635592","https://openalex.org/W2752236613","https://openalex.org/W2884877436","https://openalex.org/W2896066033","https://openalex.org/W2963322416","https://openalex.org/W2963625099","https://openalex.org/W2990417263","https://openalex.org/W2996726407","https://openalex.org/W3047375952","https://openalex.org/W3100944043","https://openalex.org/W3101940057","https://openalex.org/W3102270594","https://openalex.org/W3121045039","https://openalex.org/W3127561923","https://openalex.org/W3205097773","https://openalex.org/W4308080032","https://openalex.org/W4312609010","https://openalex.org/W4312974600","https://openalex.org/W6638018090","https://openalex.org/W6757677476","https://openalex.org/W6922480057"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W230091440","https://openalex.org/W2390279801","https://openalex.org/W2233261550","https://openalex.org/W4306904969","https://openalex.org/W2358668433","https://openalex.org/W2810751659","https://openalex.org/W258997015","https://openalex.org/W2138720691","https://openalex.org/W2376932109"],"abstract_inverted_index":{"Developing":[0],"and":[1,13,37,42,72,81,97,103,141,193,206],"testing":[2],"automated":[3,53,89],"driving":[4,54,90,176,182,204,223],"models":[5,159],"in":[6,59,109,168],"the":[7,31,45,74,92,104,116,120,123,128,134,145,157,165,185,191,214,235],"real":[8],"world":[9],"might":[10],"be":[11],"challenging":[12,24],"even":[14],"dangerous,":[15],"while":[16,55],"simulation":[17,94],"can":[18,179,218],"help":[19],"with":[20,44,160,225],"this,":[21],"especially":[22],"for":[23,51,87],"maneuvers.":[25],"Deep":[26,78],"reinforcement":[27],"learning":[28,41],"(DRL)":[29],"has":[30],"potential":[32],"to":[33,137,172,221,234,237],"tackle":[34,180],"complex":[35],"decision-making":[36],"controlling":[38],"tasks":[39],"through":[40],"interacting":[43],"environment,":[46,199],"thus":[47],"it":[48],"is":[49,136],"suitable":[50],"developing":[52],"not":[56],"being":[57],"explored":[58],"detail":[60],"yet.":[61],"This":[62],"study":[63,68,189],"carried":[64],"out":[65],"a":[66,174],"comprehensive":[67],"by":[69],"implementing,":[70],"evaluating,":[71],"comparing":[73],"two":[75],"DRL":[76],"algorithms,":[77],"Q-networks":[79],"(DQN)":[80],"Trust":[82],"Region":[83],"Policy":[84],"Optimization":[85],"(TRPO),":[86],"training":[88,198],"on":[91,119,213,245],"highway-env":[93,192,236],"platform.":[95],"Effective":[96],"customized":[98,197],"reward":[99,162],"functions":[100,163],"were":[101,107,232],"developed":[102,194],"implemented":[105],"algorithms":[106],"evaluated":[108],"terms":[110],"of":[111],"onlane":[112],"accuracy":[113],"(how":[114,126,132,143],"well":[115,220],"car":[117,129,135,146],"drives":[118],"road":[121,208],"within":[122],"lane),":[124],"efficiency":[125],"fast":[127],"drives),":[130],"safety":[131],"likely":[133],"crash":[138],"into":[139],"obstacles),":[140],"comfort":[142],"much":[144],"makes":[147],"jerks,":[148],"e.g.,":[149],"suddenly":[150],"accelerates":[151],"or":[152],"brakes).":[153],"Results":[154],"show":[155],"that":[156,178],"TRPO-based":[158],"modified":[161],"delivered":[164],"best":[166],"performance":[167],"most":[169],"cases.":[170],"Furthermore,":[171],"train":[173],"uniform":[175],"model":[177],"various":[181,203],"maneuvers":[183,205,224],"besides":[184],"specific":[186],"ones,":[187],"this":[188,239],"expanded":[190],"an":[195],"extra":[196],"namely,":[200],"ComplexRoads,":[201],"integrating":[202],"multiple":[207],"scenarios":[209],"together.":[210],"Models":[211],"trained":[212],"designed":[215],"ComplexRoads":[216],"environment":[217],"adapt":[219],"other":[222],"promising":[226],"overall":[227],"performance.":[228],"Lastly,":[229],"several":[230],"functionalities":[231],"added":[233],"implement":[238],"work.":[240],"The":[241],"codes":[242],"are":[243],"open":[244],"GitHub":[246],"at":[247],"https://github.com/alaineman/drlcarsim-paper.":[248]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
