{"id":"https://openalex.org/W4385312460","doi":"https://doi.org/10.1109/iv55152.2023.10186666","title":"Hybrid Decision Making for Autonomous Driving in Complex Urban Scenarios","display_name":"Hybrid Decision Making for Autonomous Driving in Complex Urban Scenarios","publication_year":2023,"publication_date":"2023-06-04","ids":{"openalex":"https://openalex.org/W4385312460","doi":"https://doi.org/10.1109/iv55152.2023.10186666"},"language":"en","primary_location":{"id":"doi:10.1109/iv55152.2023.10186666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","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/A5067956094","display_name":"Rodrigo Guti\u00e9rrez-Moreno","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rodrigo Guti\u00e9rrez-Moreno","raw_affiliation_strings":["University of Alcal&#x00E1; (UAH),Electronics Departament,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alcal&#x00E1; (UAH),Electronics Departament,Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069067193","display_name":"Rafael Barea","orcid":"https://orcid.org/0000-0002-4179-6100"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rafael Barea","raw_affiliation_strings":["University of Alcal&#x00E1; (UAH),Electronics Departament,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alcal&#x00E1; (UAH),Electronics Departament,Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101831518","display_name":"Elena L\u00f3pez","orcid":"https://orcid.org/0000-0002-8145-9045"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Elena L\u00f3pez-Guill\u00e9n","raw_affiliation_strings":["University of Alcal&#x00E1; (UAH),Electronics Departament,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alcal&#x00E1; (UAH),Electronics Departament,Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108816105","display_name":"Felipe Arango","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Felipe Arango","raw_affiliation_strings":["University of Alcal&#x00E1; (UAH),Electronics Departament,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alcal&#x00E1; (UAH),Electronics Departament,Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092554336","display_name":"Navil Abdeselam","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Navil Abdeselam","raw_affiliation_strings":["University of Alcal&#x00E1; (UAH),Electronics Departament,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alcal&#x00E1; (UAH),Electronics Departament,Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077780013","display_name":"Luis M. Bergasa","orcid":"https://orcid.org/0000-0002-0087-3077"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luis M. Bergasa","raw_affiliation_strings":["University of Alcal&#x00E1; (UAH),Electronics Departament,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alcal&#x00E1; (UAH),Electronics Departament,Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9866999983787537,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7802513837814331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7320840358734131},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6881824135780334},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6195764541625977},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5923143029212952},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.502131462097168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41081053018569946},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37240689992904663},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2936030626296997},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16065874695777893}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7802513837814331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7320840358734131},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6881824135780334},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6195764541625977},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5923143029212952},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.502131462097168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41081053018569946},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37240689992904663},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2936030626296997},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16065874695777893},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv55152.2023.10186666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv55152.2023.10186666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1965455100","https://openalex.org/W2109370158","https://openalex.org/W2736601468","https://openalex.org/W2739770424","https://openalex.org/W2740361510","https://openalex.org/W2795064979","https://openalex.org/W2904263972","https://openalex.org/W2905133264","https://openalex.org/W2970374010","https://openalex.org/W2989730386","https://openalex.org/W2990417263","https://openalex.org/W2991589230","https://openalex.org/W3009612472","https://openalex.org/W3044201829","https://openalex.org/W3045897451","https://openalex.org/W3102777717","https://openalex.org/W3116005188","https://openalex.org/W3118310208","https://openalex.org/W3118868204","https://openalex.org/W3119674056","https://openalex.org/W3119924655","https://openalex.org/W3127561923","https://openalex.org/W3211302749","https://openalex.org/W4200007947","https://openalex.org/W4286285557","https://openalex.org/W4308119828","https://openalex.org/W6741002519","https://openalex.org/W6752818208","https://openalex.org/W6773319185"],"related_works":["https://openalex.org/W4206669594","https://openalex.org/W3037422413","https://openalex.org/W2959276766","https://openalex.org/W4295941380","https://openalex.org/W260766989","https://openalex.org/W3139193008","https://openalex.org/W3111983280","https://openalex.org/W4312606264","https://openalex.org/W4226082945","https://openalex.org/W2498733439"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1],"presents":[2],"significant":[3],"challenges":[4],"due":[5],"to":[6,52],"the":[7,16,46,50,56,71,96,103,113],"variability":[8],"of":[9,18,106],"behaviours":[10],"exhibited":[11],"by":[12],"surrounding":[13],"vehicles":[14],"and":[15,33,42,66,83,95],"diversity":[17],"scenarios":[19,120],"encountered.":[20],"To":[21],"address":[22],"these":[23],"challenges,":[24],"we":[25],"propose":[26],"a":[27,61,76,84],"hybrid":[28,93],"architecture":[29,38,94],"that":[30,112],"combines":[31],"traditional":[32],"deep":[34,67],"learning":[35],"techniques.":[36],"Our":[37],"includes":[39],"strategy,":[40],"tactical":[41,57],"execution":[43,73],"modules.":[44],"Specifically,":[45],"strategy":[47],"module":[48,59,74],"defines":[49],"trajectory":[51,81],"be":[53],"followed.":[54],"Then,":[55],"decision":[58],"employs":[60],"proximal":[62],"policy":[63],"optimization":[64],"algorithm":[65],"reinforcement":[68],"learning.":[69],"Finally,":[70],"maneuver":[72],"uses":[75],"linear-quadratic":[77],"regulator":[78],"controller":[79,87],"for":[80,88],"tracking":[82],"predictive":[85],"model":[86],"lane":[89],"change":[90],"execution.":[91],"This":[92],"comparison":[97],"with":[98],"other":[99],"classical":[100],"approaches":[101],"are":[102],"main":[104],"contributions":[105],"this":[107],"research.":[108],"Experimental":[109],"results":[110],"demonstrate":[111],"proposed":[114],"framework":[115],"solves":[116],"concatenated":[117],"complex":[118],"urban":[119],"optimally.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
