{"id":"https://openalex.org/W4408697003","doi":"https://doi.org/10.1109/itsc58415.2024.10920254","title":"SPformer: A Transformer Based DRL Decision Making Method for Connected Automated Vehicles","display_name":"SPformer: A Transformer Based DRL Decision Making Method for Connected Automated Vehicles","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408697003","doi":"https://doi.org/10.1109/itsc58415.2024.10920254"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10920254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10920254","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/A5100383657","display_name":"Han Ye","orcid":"https://orcid.org/0000-0002-9119-4781"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Han","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100448173","display_name":"Lijun Zhang","orcid":"https://orcid.org/0000-0003-1946-7105"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Zhang","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079732519","display_name":"Dejian Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dejian Meng","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005794291","display_name":"Xingyu Hu","orcid":"https://orcid.org/0000-0001-6642-9086"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingyu Hu","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042519778","display_name":"Yixia Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixia Lu","raw_affiliation_strings":["School of Automotive Studies, Tongji University,Shanghai,China,201804"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University,Shanghai,China,201804","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":1.3542,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.82091624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1223","last_page":"1230"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9753000140190125,"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/T10142","display_name":"Formal Methods in Verification","score":0.9649999737739563,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/computer-science","display_name":"Computer science","score":0.6421390771865845},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5805965662002563},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19394659996032715},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17706242203712463},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09241354465484619}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6421390771865845},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5805965662002563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19394659996032715},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17706242203712463},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09241354465484619}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc58415.2024.10920254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10920254","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2082845025","https://openalex.org/W2276329747","https://openalex.org/W2337845997","https://openalex.org/W2424778531","https://openalex.org/W2493168586","https://openalex.org/W2723293840","https://openalex.org/W2789443414","https://openalex.org/W2885195348","https://openalex.org/W2925037331","https://openalex.org/W2963000651","https://openalex.org/W3035272636","https://openalex.org/W3094502228","https://openalex.org/W3139491754","https://openalex.org/W3167586364","https://openalex.org/W3184736002","https://openalex.org/W4221145253","https://openalex.org/W4224324347","https://openalex.org/W4283697860","https://openalex.org/W4285102188","https://openalex.org/W4308080479","https://openalex.org/W4315781029","https://openalex.org/W4365129631","https://openalex.org/W4365459053","https://openalex.org/W4385061177","https://openalex.org/W4385245566","https://openalex.org/W4385573046","https://openalex.org/W4390871698","https://openalex.org/W4391946697","https://openalex.org/W4392449656","https://openalex.org/W4403160743","https://openalex.org/W6765787381","https://openalex.org/W6772203101","https://openalex.org/W6784156366","https://openalex.org/W6792695861","https://openalex.org/W6796289742","https://openalex.org/W6846849954","https://openalex.org/W6850423014","https://openalex.org/W6856810907"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"mixed":[1],"autonomy":[2],"traffic":[3,39,205],"environment,":[4],"every":[5],"decision":[6],"made":[7],"by":[8],"an":[9,171],"autonomous-driving":[10],"car":[11],"may":[12],"have":[13,50],"a":[14,120],"great":[15,51],"impact":[16],"on":[17,81,125],"the":[18,23,55,90,105,109,112,138,142,146,152,176,183,186,199],"transportation":[19],"system.":[20],"Because":[21],"of":[22,57,68,111,141,148,154,180,185,197,202],"complex":[24],"interaction":[25],"between":[26,92],"vehicles,":[27],"it":[28],"is":[29,135],"challenging":[30],"to":[31,53,88,94,162,209],"make":[32,194],"decisions":[33,213],"that":[34,190,214,223],"can":[35,156,193],"ensure":[36],"both":[37],"high":[38],"efficiency":[40,107,216],"and":[41,44,64,72,108,127,217],"safety":[42,218],"now":[43],"futher.":[45],"Connected":[46],"automated":[47],"vehicles":[48,93,150,203],"(CAVs)":[49],"potential":[52],"improve":[54],"quality":[56,110],"decision-making":[58,78,122,232],"in":[59,100,151,160,204],"this":[60,101,116],"continuous,":[61],"highly":[62],"dynamic":[63],"interactive":[65,96,164],"environment":[66],"because":[67],"their":[69],"stronger":[70],"sensing":[71],"communicating":[73],"ability.":[74],"For":[75],"multi-vehicle":[76,143,230],"collaborative":[77],"algorithms":[79],"based":[80,124],"deep":[82],"reinforcement":[83,128],"learning":[84,106,129,139],"(DRL),":[85],"we":[86,118],"need":[87],"represent":[89],"interactions":[91],"obtain":[95,210],"features.":[97],"The":[98,220],"representation":[99],"aspect":[102],"directly":[103],"affects":[104],"learned":[113],"policy.":[114],"To":[115],"end,":[117],"propose":[119],"CAV":[121],"architecture":[123],"transformer":[126],"algorithms.":[130,233],"A":[131],"learnable":[132],"policy":[133],"token":[134],"used":[136],"as":[137,208],"medium":[140],"joint":[144],"policy,":[145],"states":[147],"all":[149,198],"area":[153],"interest":[155],"be":[157],"adaptively":[158],"noticed":[159],"order":[161],"extract":[163],"features":[165],"among":[166],"agents.":[167],"We":[168],"also":[169],"design":[170],"intuitive":[172],"physical":[173],"positional":[174],"encodings,":[175],"redundant":[177],"location":[178],"information":[179,201],"which":[181],"optimizes":[182],"performance":[184],"network.":[187],"Simulations":[188],"show":[189],"our":[191,224],"model":[192],"good":[195],"use":[196],"state":[200],"scenario,":[206],"so":[207],"high-quality":[211],"driving":[212],"meet":[215],"objectives.":[219],"comparison":[221],"shows":[222],"method":[225],"significantly":[226],"improves":[227],"existing":[228],"DRL-based":[229],"cooperative":[231]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}