{"id":"https://openalex.org/W4391770276","doi":"https://doi.org/10.1109/itsc57777.2023.10422286","title":"Neural MPC-Based Decision-Making Framework for Autonomous Driving in Multi-Lane Roundabout","display_name":"Neural MPC-Based Decision-Making Framework for Autonomous Driving in Multi-Lane Roundabout","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391770276","doi":"https://doi.org/10.1109/itsc57777.2023.10422286"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422286","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109243996","display_name":"Yao Mu","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Yao Mu","raw_affiliation_strings":["The University of Hong Kong,Department of Computer Science","Department of Computer Science, The University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Computer Science","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Computer Science, The University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083843330","display_name":"Zhiqian Lan","orcid":"https://orcid.org/0000-0003-4102-1919"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqian Lan","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111598130","display_name":"Chen Chen","orcid":"https://orcid.org/0000-0002-4971-5029"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Chen","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100353388","display_name":"Chang Liu","orcid":"https://orcid.org/0009-0008-4568-3382"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Liu","raw_affiliation_strings":["College of Engineering, Peking University,Department of Advanced Manufacturing and Robotics","Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University"],"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University,Department of Advanced Manufacturing and Robotics","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100752686","display_name":"Ping Luo","orcid":"https://orcid.org/0000-0002-6685-7950"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ping Luo","raw_affiliation_strings":["The University of Hong Kong,Department of Computer Science","Department of Computer Science, The University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Computer Science","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Computer Science, The University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengbo Eben Li","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5109243996"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.2297,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53790768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5403","last_page":"5409"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9595999717712402,"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":0.9595999717712402,"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/T10320","display_name":"Neural Networks and Applications","score":0.9419999718666077,"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"}},{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9283999800682068,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/roundabout","display_name":"Roundabout","score":0.9822492599487305},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485830545425415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33116981387138367},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.25512629747390747},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2161010205745697}],"concepts":[{"id":"https://openalex.org/C109157449","wikidata":"https://www.wikidata.org/wiki/Q7371221","display_name":"Roundabout","level":2,"score":0.9822492599487305},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485830545425415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33116981387138367},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.25512629747390747},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2161010205745697}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422286","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W341403209","https://openalex.org/W1134424270","https://openalex.org/W1588241099","https://openalex.org/W1588711604","https://openalex.org/W1845205111","https://openalex.org/W2002219970","https://openalex.org/W2064675550","https://openalex.org/W2137921433","https://openalex.org/W2143545157","https://openalex.org/W2169261433","https://openalex.org/W2243721295","https://openalex.org/W2342840547","https://openalex.org/W2736502650","https://openalex.org/W2741222326","https://openalex.org/W2781726626","https://openalex.org/W2903709398","https://openalex.org/W2962881537","https://openalex.org/W2963238245","https://openalex.org/W2973229164","https://openalex.org/W3002044607","https://openalex.org/W3010740942","https://openalex.org/W3106775416","https://openalex.org/W3109717595","https://openalex.org/W3158413423","https://openalex.org/W3195860693","https://openalex.org/W3208941764","https://openalex.org/W3209552190","https://openalex.org/W3211302749","https://openalex.org/W4224216677","https://openalex.org/W4225820449","https://openalex.org/W4226245271","https://openalex.org/W4283213215","https://openalex.org/W4293682399","https://openalex.org/W4304700993","https://openalex.org/W4362650413","https://openalex.org/W4401109681"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2093826578","https://openalex.org/W4294237266","https://openalex.org/W3195565206","https://openalex.org/W647040144","https://openalex.org/W2558143469","https://openalex.org/W2176704059","https://openalex.org/W3118850949","https://openalex.org/W4375811566","https://openalex.org/W53329137"],"abstract_inverted_index":{"The":[0,47,99],"multi-lane":[1,45,147],"roundabout":[2,148,154],"poses":[3],"significant":[4],"challenges":[5],"for":[6,40],"autonomous":[7,41],"driving":[8,167],"due":[9],"to":[10,43,58,96,133,172],"its":[11],"complex":[12],"road":[13,77],"structure":[14],"and":[15,38,79,113,129,138,169],"traffic":[16,65,178],"conditions.":[17],"To":[18,120],"address":[19],"these":[20],"challenges,":[21],"this":[22],"paper":[23],"proposes":[24],"a":[25,52,86,126,146,152],"novel":[26],"Neural":[27],"Model":[28],"Predictive":[29],"Control":[30],"(NMPC)-based":[31],"decision-making":[32,81],"framework":[33,50],"that":[34,158],"integrates":[35],"prediction,":[36],"planning,":[37],"control":[39,93,116,140],"vehicles":[42],"navigate":[44],"roundabouts.":[46],"proposed":[48,160],"NMPC":[49,124],"learns":[51],"dynamical":[53],"model,":[54],"incorporating":[55],"interaction":[56],"data,":[57],"accurately":[59],"predict":[60],"the":[61,76,80,109,114,135,139,159],"behavior":[62],"of":[63,88,166],"surrounding":[64],"participants.":[66],"Multiple":[67],"candidate":[68],"static":[69,90,100],"paths":[70],"are":[71],"then":[72],"generated":[73,118],"based":[74,150],"on":[75,145,151],"structure,":[78],"problem":[82],"is":[83,106,117],"formulated":[84],"as":[85,108],"series":[87],"parallel":[89],"path":[91,101],"tracking":[92,104,115,136],"problems":[94],"subject":[95],"safety":[97,168],"constraints.":[98],"with":[102],"minimal":[103],"cost":[105,137],"selected":[107],"target":[110],"reference":[111],"path,":[112],"simultaneously.":[119],"enhance":[121],"computational":[122],"efficiency,":[123],"utilizes":[125],"critic":[127],"network":[128,132],"an":[130],"actor":[131],"approximate":[134],"policy,":[141],"respectively.":[142],"Experimental":[143],"evaluation":[144],"simulator,":[149],"real":[153],"in":[155,164],"Beijing,":[156],"demonstrates":[157],"method":[161],"performs":[162],"better":[163],"terms":[165],"efficiency":[170],"compared":[171],"several":[173],"baseline":[174],"algorithms":[175],"across":[176],"various":[177],"densities.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}