{"id":"https://openalex.org/W4408698207","doi":"https://doi.org/10.1109/itsc58415.2024.10919887","title":"Deep Reinforcement Learning Based Tractor-Trailer Tracking Control","display_name":"Deep Reinforcement Learning Based Tractor-Trailer Tracking Control","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408698207","doi":"https://doi.org/10.1109/itsc58415.2024.10919887"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10919887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919887","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5032941706","display_name":"Qi Kang","orcid":"https://orcid.org/0000-0002-7796-2676"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi Kang","raw_affiliation_strings":["Continental Automotive Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Continental Automotive Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001049839","display_name":"Andreas Hartmannsgruber","orcid":"https://orcid.org/0000-0001-8943-9703"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andreas Hartmannsgruber","raw_affiliation_strings":["Continental Automotive Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Continental Automotive Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sze-Hui Tan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sze-Hui Tan","raw_affiliation_strings":["Continental Automotive Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Continental Automotive Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100438873","display_name":"Xian Zhang","orcid":"https://orcid.org/0009-0003-3169-4295"},"institutions":[{"id":"https://openalex.org/I4210161667","display_name":"Continental (United States)","ror":"https://ror.org/05yhca997","country_code":"US","type":"company","lineage":["https://openalex.org/I147869694","https://openalex.org/I4210161667"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xian Zhang","raw_affiliation_strings":["Continental Autonomous Mobility US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Continental Autonomous Mobility US","institution_ids":["https://openalex.org/I4210161667"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5781,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85770651,"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":"3147","last_page":"3153"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9656999707221985,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9656999707221985,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9358000159263611,"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/T12707","display_name":"Vehicle License Plate Recognition","score":0.9156000018119812,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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":0.8156942129135132},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.7882635593414307},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.6823360323905945},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6563504934310913},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4981975555419922},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4795232117176056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4560728669166565},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.35932663083076477},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2083035111427307},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10307389497756958},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07641097903251648}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8156942129135132},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.7882635593414307},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.6823360323905945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6563504934310913},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4981975555419922},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4795232117176056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4560728669166565},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.35932663083076477},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2083035111427307},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10307389497756958},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07641097903251648},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc58415.2024.10919887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919887","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1977655452","https://openalex.org/W1989129674","https://openalex.org/W2050984992","https://openalex.org/W2094963988","https://openalex.org/W2291087457","https://openalex.org/W2584775661","https://openalex.org/W2726187156","https://openalex.org/W2736601468","https://openalex.org/W2740508249","https://openalex.org/W2795064979","https://openalex.org/W2962872206","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W2980129875","https://openalex.org/W3090027660","https://openalex.org/W3102777717","https://openalex.org/W3109865407","https://openalex.org/W3127561923","https://openalex.org/W3131446872","https://openalex.org/W3186006943","https://openalex.org/W3197060594","https://openalex.org/W3214637843","https://openalex.org/W4285818834","https://openalex.org/W4286285658","https://openalex.org/W4298857966","https://openalex.org/W4300799055","https://openalex.org/W4308069108","https://openalex.org/W4315472242","https://openalex.org/W4319866469","https://openalex.org/W4381733089","https://openalex.org/W4392843867"],"related_works":["https://openalex.org/W2146713717","https://openalex.org/W4300792815","https://openalex.org/W2604764672","https://openalex.org/W2127687077","https://openalex.org/W2106152261","https://openalex.org/W2920938962","https://openalex.org/W2380420759","https://openalex.org/W2791174895","https://openalex.org/W2022614753","https://openalex.org/W2963356265"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,53,87,97,102],"tracking":[4,66],"control":[5,64],"method":[6],"for":[7,18,82],"an":[8],"autonomous":[9,68],"tractor-trailer":[10,69],"system":[11,32],"using":[12],"policy-based":[13],"deep":[14,60],"reinforcement":[15,61],"learning.":[16],"Approaches":[17],"planning":[19],"and":[20,39,55,94,117,128,134,144],"controlling":[21],"traditional":[22],"passenger":[23],"vehicles":[24],"cannot":[25],"be":[26],"easily":[27],"transferred":[28],"to":[29,63,91,106],"this":[30,47],"special":[31],"because":[33],"its":[34],"physical":[35],"properties,":[36],"like":[37],"size":[38],"kinematics,":[40],"are":[41],"much":[42],"more":[43],"complex.":[44],"To":[45],"manage":[46],"complexity,":[48],"we":[49],"make":[50],"use":[51],"of":[52,67,110,120],"new":[54],"trending":[56],"artificial":[57],"intelligence":[58],"tool:":[59],"learning":[62],"the":[65,84,108,111,115,118,121,131],"systems":[70],"by":[71],"providing":[72],"guidance":[73],"trajectory":[74],"information.":[75],"The":[76,124],"proximal":[77],"policy":[78,125],"optimization":[79],"is":[80,126],"adopted":[81],"training":[83,122],"agent":[85,137],"with":[86],"reward":[88,95],"function":[89],"defined":[90],"penalize":[92],"deviation":[93],"following":[96],"given":[98],"track.":[99],"We":[100],"chose":[101],"B-spline-based":[103],"lane":[104],"representation":[105],"improve":[107],"observation":[109],"agent's":[112],"state":[113],"in":[114,130,141],"environment":[116],"diversity":[119],"scenarios.":[123],"trained":[127,136],"validated":[129],"Pybullet":[132],"simulator":[133],"our":[135],"achieves":[138],"good":[139],"capability":[140],"navigating":[142],"random":[143],"complex":[145],"tracks.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}