{"id":"https://openalex.org/W2982536628","doi":"https://doi.org/10.1109/iv47402.2020.9304744","title":"Deep Reinforcement Learning with Enhanced Safety for Autonomous Highway Driving","display_name":"Deep Reinforcement Learning with Enhanced Safety for Autonomous Highway Driving","publication_year":2020,"publication_date":"2020-10-19","ids":{"openalex":"https://openalex.org/W2982536628","doi":"https://doi.org/10.1109/iv47402.2020.9304744","mag":"2982536628"},"language":"en","primary_location":{"id":"doi:10.1109/iv47402.2020.9304744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.12905","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086511671","display_name":"Ali Baheri","orcid":"https://orcid.org/0000-0002-5613-0192"},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Baheri","raw_affiliation_strings":["West Virginia University, Morgantown, WV, USA","WEST VIRGINIA UNIVERSITY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]},{"raw_affiliation_string":"WEST VIRGINIA UNIVERSITY","institution_ids":["https://openalex.org/I12097938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061604841","display_name":"Subramanya Nageshrao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Subramanya Nageshrao","raw_affiliation_strings":["Ford Greenfield Labs, Palo Alto, CA, USA","Ford Motor Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Greenfield Labs, Palo Alto, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Ford Motor Company","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034788095","display_name":"H. Eric Tseng","orcid":"https://orcid.org/0000-0001-9544-4226"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]},{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Eric Tseng","raw_affiliation_strings":["Ford Research and Innovation Center, Dearborn, MI, USA","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Research and Innovation Center, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078022728","display_name":"Ilya Kolmanovsky","orcid":"https://orcid.org/0000-0002-7225-4160"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ilya Kolmanovsky","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074685221","display_name":"Anouck Girard","orcid":"https://orcid.org/0000-0003-3410-7271"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anouck Girard","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA","Ford Motor Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Ford Motor Company","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015550681","display_name":"Dimitar Filev","orcid":"https://orcid.org/0000-0001-7127-6782"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dimitar Filev","raw_affiliation_strings":["Ford Research and Innovation Center, Dearborn, MI, USA","Ford Motor Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Research and Innovation Center, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]},{"raw_affiliation_string":"Ford Motor Company","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1550","last_page":"1555"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"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":0.9990000128746033,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9954000115394592,"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/T10524","display_name":"Traffic control and management","score":0.9843999743461609,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8399430513381958},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6390379071235657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6365739703178406},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5904367566108704},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.561877429485321},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5425416231155396},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5109507441520691},{"id":"https://openalex.org/keywords/safety-assurance","display_name":"Safety assurance","score":0.4241522550582886},{"id":"https://openalex.org/keywords/active-safety","display_name":"Active safety","score":0.42130279541015625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3858236074447632},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2377488911151886},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.23670625686645508},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.13335326313972473}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8399430513381958},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6390379071235657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6365739703178406},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5904367566108704},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.561877429485321},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5425416231155396},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5109507441520691},{"id":"https://openalex.org/C112805685","wikidata":"https://www.wikidata.org/wiki/Q10566551","display_name":"Safety assurance","level":2,"score":0.4241522550582886},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.42130279541015625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3858236074447632},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2377488911151886},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.23670625686645508},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.13335326313972473},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iv47402.2020.9304744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv47402.2020.9304744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.12905","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.12905","pdf_url":"https://arxiv.org/pdf/1910.12905","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2982536628","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1910.12905.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.12905","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.12905","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"mag:3127143931","is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/ivs/ivs2020.html#BaheriNTKGF20","pdf_url":null,"source":{"id":"https://openalex.org/S4363604372","display_name":"IV","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":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IV","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.12905","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.12905","pdf_url":"https://arxiv.org/pdf/1910.12905","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2982536628.pdf","grobid_xml":"https://content.openalex.org/works/W2982536628.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1486707268","https://openalex.org/W1515851193","https://openalex.org/W1845972764","https://openalex.org/W2079659517","https://openalex.org/W2081348312","https://openalex.org/W2119112357","https://openalex.org/W2134491302","https://openalex.org/W2139612737","https://openalex.org/W2145339207","https://openalex.org/W2155968351","https://openalex.org/W2169619645","https://openalex.org/W2555811267","https://openalex.org/W2566307933","https://openalex.org/W2749747771","https://openalex.org/W2769471004","https://openalex.org/W2933742237","https://openalex.org/W2962938178","https://openalex.org/W2963898834","https://openalex.org/W2991448601","https://openalex.org/W6628902087","https://openalex.org/W6677939520","https://openalex.org/W6678097026","https://openalex.org/W6685043521","https://openalex.org/W7071380059"],"related_works":["https://openalex.org/W3127143931","https://openalex.org/W3136988982","https://openalex.org/W3158312489","https://openalex.org/W2558738305","https://openalex.org/W3117013454","https://openalex.org/W2945623569","https://openalex.org/W3115737827","https://openalex.org/W3010969724","https://openalex.org/W3205367325","https://openalex.org/W2919820522","https://openalex.org/W3126673337","https://openalex.org/W3091986137","https://openalex.org/W2939467494","https://openalex.org/W3118975573","https://openalex.org/W3118868204","https://openalex.org/W3120624913","https://openalex.org/W3199476173","https://openalex.org/W3038055982","https://openalex.org/W2991448601","https://openalex.org/W2794786585"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,46,57,62,74,91,116,121,148],"safe":[6],"deep":[7],"reinforcement":[8,99],"learning":[9,100,137],"system":[10,30],"for":[11,25],"automated":[12],"driving.":[13],"The":[14,41],"proposed":[15,145],"framework":[16,146],"leverages":[17],"merits":[18],"of":[19,32,98,110,143,161],"both":[20],"rule-based":[21],"and":[22,38,134],"learning-based":[23],"approaches":[24],"safety":[26,29,37,43,48,71,76,80,88,103,167],"assurance.":[27],"Our":[28,155],"consists":[31],"two":[33],"modules":[34],"namely":[35],"handcrafted":[36,42],"dynamically-learned":[39,70,166],"safety.":[40],"module":[44,72,89],"is":[45,73],"heuristic":[47],"rule":[49,77],"based":[50],"on":[51],"common":[52],"driving":[53,83],"practice":[54],"that":[55,78],"ensure":[56],"minimum":[58],"relative":[59],"gap":[60],"to":[61,101,115,127,131],"traffic":[63,153],"vehicle.":[64],"On":[65],"the":[66,69,86,95,106,111,128,136,141,144,158,162],"other":[67],"hand,":[68],"data-driven":[75],"learns":[79],"patterns":[81],"from":[82],"data.":[84],"Specifically,":[85],"dynamically-leaned":[87],"incorporates":[90],"model":[92],"lookahead":[93],"beyond":[94],"immediate":[96],"reward":[97,123,129],"predict":[102],"longer":[104],"into":[105],"future.":[107],"If":[108],"one":[109],"future":[112],"states":[113],"leads":[114],"near-miss":[117],"or":[118],"collision,":[119],"then":[120],"negative":[122],"will":[124],"be":[125],"assigned":[126],"function":[130],"avoid":[132],"collision":[133],"accelerate":[135],"process.":[138],"We":[139],"demonstrate":[140],"capability":[142],"in":[147],"simulation":[149],"environment":[150],"with":[151,165],"varying":[152],"density.":[154],"results":[156],"show":[157],"superior":[159],"capabilities":[160],"policy":[163],"enhanced":[164],"module.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}