{"id":"https://openalex.org/W3210800887","doi":"https://doi.org/10.1109/iv48863.2021.9575954","title":"Automatic Overtaking on Two-way Roads with Vehicle Interactions Based on Proximal Policy Optimization","display_name":"Automatic Overtaking on Two-way Roads with Vehicle Interactions Based on Proximal Policy Optimization","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W3210800887","doi":"https://doi.org/10.1109/iv48863.2021.9575954","mag":"3210800887"},"language":"en","primary_location":{"id":"doi:10.1109/iv48863.2021.9575954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","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/A5036540066","display_name":"Xiaochang Chen","orcid":"https://orcid.org/0000-0001-6981-3016"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaochang Chen","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,China","School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052742469","display_name":"Jieqiang Wei","orcid":"https://orcid.org/0000-0002-0170-0979"},"institutions":[{"id":"https://openalex.org/I1306339040","display_name":"Ericsson (Sweden)","ror":"https://ror.org/05a7rhx54","country_code":"SE","type":"company","lineage":["https://openalex.org/I1306339040"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jieqiang Wei","raw_affiliation_strings":["Ericsson AB,Stockholm,Sweden","Ericsson AB, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Ericsson AB,Stockholm,Sweden","institution_ids":["https://openalex.org/I1306339040"]},{"raw_affiliation_string":"Ericsson AB, Stockholm, Sweden","institution_ids":["https://openalex.org/I1306339040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070014635","display_name":"Xiaoqiang Ren","orcid":"https://orcid.org/0000-0001-6674-4553"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqiang Ren","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,China","School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045975901","display_name":"Karl Henrik Johansson","orcid":"https://orcid.org/0000-0001-9940-5929"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Karl H. Johansson","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100718391","display_name":"Xiaofan Wang","orcid":"https://orcid.org/0000-0003-0295-2462"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofan Wang","raw_affiliation_strings":["Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,China","School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Mechatronic Engineering and Automation,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]},{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036540066"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":null,"apc_paid":null,"fwci":1.0998,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.769614,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1057","last_page":"1064"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T10524","display_name":"Traffic control and management","score":0.9990000128746033,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/overtaking","display_name":"Overtaking","score":0.9951642155647278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6811568140983582},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6518778800964355},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6177822351455688},{"id":"https://openalex.org/keywords/id-ego-and-super-ego","display_name":"Id, ego and super-ego","score":0.48500868678092957},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42429178953170776},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.420034259557724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3687925636768341},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21894389390945435},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.18339860439300537},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12245318293571472},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07582482695579529}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.9951642155647278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6811568140983582},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6518778800964355},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6177822351455688},{"id":"https://openalex.org/C9180747","wikidata":"https://www.wikidata.org/wiki/Q486893","display_name":"Id, ego and super-ego","level":2,"score":0.48500868678092957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42429178953170776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.420034259557724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3687925636768341},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21894389390945435},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.18339860439300537},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12245318293571472},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07582482695579529},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv48863.2021.9575954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5888134290","display_name":null,"funder_award_id":"2018AAA0102804","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321033","display_name":"Svenska Forskningsr\u00e5det Formas","ror":"https://ror.org/03pjs1y45"},{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W102190310","https://openalex.org/W1592601589","https://openalex.org/W1829026862","https://openalex.org/W1997595810","https://openalex.org/W2056877664","https://openalex.org/W2082585576","https://openalex.org/W2140542425","https://openalex.org/W2149372643","https://openalex.org/W2477231637","https://openalex.org/W2530849036","https://openalex.org/W2583993537","https://openalex.org/W2736502650","https://openalex.org/W2750632489","https://openalex.org/W2790875562","https://openalex.org/W2800727637","https://openalex.org/W2884375489","https://openalex.org/W2913811934","https://openalex.org/W2968202530","https://openalex.org/W2968820875","https://openalex.org/W2973183361","https://openalex.org/W2991489433","https://openalex.org/W3045161629","https://openalex.org/W3045909318","https://openalex.org/W3086911381","https://openalex.org/W3091516903","https://openalex.org/W3093963693","https://openalex.org/W3100944043","https://openalex.org/W3127561923","https://openalex.org/W4301501993","https://openalex.org/W6759494603","https://openalex.org/W6770704954","https://openalex.org/W6773319185","https://openalex.org/W6784178060"],"related_works":["https://openalex.org/W3084163143","https://openalex.org/W3198453306","https://openalex.org/W3081587374","https://openalex.org/W591161629","https://openalex.org/W2294880310","https://openalex.org/W2102544652","https://openalex.org/W3208192858","https://openalex.org/W2618142536","https://openalex.org/W4251855072","https://openalex.org/W4377157894"],"abstract_inverted_index":{"Overtaking":[0],"the":[1,8,26,49,55,88,105,112,117,120,134,146,152,156,167,173,193],"lead":[2],"vehicle":[3,32,51,90,109,158],"on":[4,34,104],"two-way":[5,43,194],"roads":[6],"in":[7,159],"presence":[9],"of":[10,29,84,148,155,169],"several":[11],"oncoming":[12],"vehicles":[13,86,103,171],"is":[14,46,99,130,141,178,201],"a":[15,35,42,95],"complex":[16],"task":[17],"for":[18,75],"autonomous":[19,196],"vehicles.":[20],"In":[21],"this":[22],"paper,":[23],"we":[24,80],"formulate":[25],"overtaking":[27,92,153,176,197],"behavior":[28,177],"an":[30],"ego":[31,50,89,157,174],"based":[33],"deep":[36],"reinforcement":[37],"learning":[38],"(DRL)":[39],"method.":[40],"First,":[41],"urban":[44],"road":[45,195],"created,":[47],"wherein":[48],"aims":[52],"to":[53,73,101,132,144,190],"reach":[54],"destination":[56],"safely":[57],"and":[58,115,165],"efficiently":[59],"while":[60],"considering":[61],"multiple":[62],"traffic":[63],"participants.":[64],"We":[65],"use":[66],"different":[67,76,82,160],"intelligent":[68],"driver":[69],"model":[70],"(IDM)":[71],"parameters":[72],"account":[74],"drivers'":[77],"habits.":[78],"Furthermore,":[79],"introduce":[81],"responses":[83,168],"other":[85,170],"when":[87],"takes":[91],"maneuver.":[93],"Then,":[94],"hierarchical":[96],"control":[97],"framework":[98],"proposed":[100],"manage":[102],"road,":[106],"which":[107],"supervises":[108],"behaviors":[110],"at":[111,119,203],"high":[113],"layer":[114],"controls":[116],"motion":[118],"lower":[121],"layer.":[122],"The":[123],"DRL":[124],"method":[125],"named":[126],"Proximal":[127],"Policy":[128],"Optimization":[129],"applied":[131],"derive":[133],"high-level":[135],"decision-making":[136],"policies.":[137],"A":[138],"self-attention":[139],"mechanism":[140],"further":[142],"introduced":[143],"improve":[145],"performance":[147,189],"our":[149,184],"algorithm.":[150],"Finally,":[151],"maneuvers":[154],"training":[161],"timesteps":[162],"are":[163],"analyzed":[164],"how":[166],"affect":[172],"one's":[175],"investigated.":[179],"Simulation":[180],"results":[181],"show":[182],"that":[183],"approach":[185],"can":[186],"achieve":[187],"good":[188],"deal":[191],"with":[192],"task.":[198],"Supplementary":[199],"video":[200],"available":[202],"https://youtu.be/jPEGjM7cBuk.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
