{"id":"https://openalex.org/W4285240050","doi":"https://doi.org/10.1109/jiot.2022.3179739","title":"Soft Actor\u2013Critic-Based Multilevel Cooperative Perception for Connected Autonomous Vehicles","display_name":"Soft Actor\u2013Critic-Based Multilevel Cooperative Perception for Connected Autonomous Vehicles","publication_year":2022,"publication_date":"2022-06-02","ids":{"openalex":"https://openalex.org/W4285240050","doi":"https://doi.org/10.1109/jiot.2022.3179739"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2022.3179739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3179739","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5053080924","display_name":"Qi Xie","orcid":"https://orcid.org/0000-0003-0362-1016"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Xie","raw_affiliation_strings":["Tianjin Key Laboratory of Advanced Networking, College of Intelligence and Computing, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0362-1016","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Advanced Networking, College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083871473","display_name":"Xiaobo Zhou","orcid":"https://orcid.org/0000-0002-7772-458X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaobo Zhou","raw_affiliation_strings":["Tianjin Key Laboratory of Advanced Networking, College of Intelligence and Computing, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7772-458X","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Advanced Networking, College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037428599","display_name":"Tie Qiu","orcid":"https://orcid.org/0000-0003-2324-2523"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tie Qiu","raw_affiliation_strings":["Tianjin Key Laboratory of Advanced Networking, College of Intelligence and Computing, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-2324-2523","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Advanced Networking, College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100681539","display_name":"Qingyu Zhang","orcid":"https://orcid.org/0000-0001-9739-3899"},"institutions":[{"id":"https://openalex.org/I4210094894","display_name":"China Automotive Technology and Research Center","ror":"https://ror.org/00r5r6807","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210094894"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyu Zhang","raw_affiliation_strings":["Technical Development Office, China Automotive Technology and Research Center Company Ltd., Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical Development Office, China Automotive Technology and Research Center Company Ltd., Tianjin, China","institution_ids":["https://openalex.org/I4210094894"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041346888","display_name":"Wenyu Qu","orcid":"https://orcid.org/0000-0003-4817-5187"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyu Qu","raw_affiliation_strings":["Tianjin Key Laboratory of Advanced Networking, College of Intelligence and Computing, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-4817-5187","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Advanced Networking, College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5428,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.93599267,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"9","issue":"21","first_page":"21370","last_page":"21381"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.929099977016449,"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"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.929099977016449,"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/T10764","display_name":"Privacy-Preserving Technologies in Data","score":0.9156000018119812,"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/computer-science","display_name":"Computer science","score":0.8074058294296265},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.5678451061248779},{"id":"https://openalex.org/keywords/raw-data","display_name":"Raw data","score":0.5136718153953552},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4985337257385254},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.462171733379364},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.44437074661254883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4421544671058655},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4131552577018738},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.18512257933616638},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1832011342048645}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8074058294296265},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.5678451061248779},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.5136718153953552},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4985337257385254},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.462171733379364},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.44437074661254883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4421544671058655},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4131552577018738},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.18512257933616638},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1832011342048645},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2022.3179739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3179739","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[{"id":"https://openalex.org/G2011158995","display_name":null,"funder_award_id":"U2001204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G523267021","display_name":"\u9762\u5411\u667a\u80fd\u7f51\u8054\u6c7d\u8f66\u7684\u7aef\u8fb9\u534f\u4f5c\u611f\u77e5\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"62072330","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6138235978","display_name":null,"funder_award_id":"2019YFB2102400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8656971842","display_name":null,"funder_award_id":"20211093","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G8921145797","display_name":null,"funder_award_id":"U1836214","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null},{"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":29,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W2031489346","https://openalex.org/W2150066425","https://openalex.org/W2150595850","https://openalex.org/W2823766194","https://openalex.org/W2897529137","https://openalex.org/W2918379587","https://openalex.org/W2968296999","https://openalex.org/W2971842090","https://openalex.org/W2982681137","https://openalex.org/W2985739927","https://openalex.org/W2991147963","https://openalex.org/W3008105217","https://openalex.org/W3011722512","https://openalex.org/W3027600384","https://openalex.org/W3034314779","https://openalex.org/W3109991383","https://openalex.org/W3115615603","https://openalex.org/W3123928227","https://openalex.org/W3128018342","https://openalex.org/W3130417897","https://openalex.org/W3131373811","https://openalex.org/W3207475467","https://openalex.org/W3210408793","https://openalex.org/W3211003315","https://openalex.org/W4210580326","https://openalex.org/W4210799407","https://openalex.org/W6734517396","https://openalex.org/W6747473740"],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2138720691","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2024136090","https://openalex.org/W2964765435","https://openalex.org/W2585069576"],"abstract_inverted_index":{"Cooperative":[0],"perception":[1,20,36,83,194],"is":[2,100],"an":[3],"effective":[4],"way":[5],"for":[6],"connected":[7],"autonomous":[8],"vehicles":[9,178],"to":[10,49,51,59,85,101,127,145,155,190],"extend":[11],"sensing":[12,26,106],"range,":[13],"improve":[14,92],"detection":[15,68,93,187],"precision,":[16],"and":[17,90,115,122,128,170],"thus":[18,45],"enhance":[19],"ability":[21],"by":[22],"combining":[23],"their":[24],"own":[25],"information":[27,159],"with":[28],"that":[29,180],"of":[30,98,105,108,150,160],"other":[31],"vehicles.":[32],"The":[33,95,165],"existing":[34,191],"cooperation":[35],"schemes":[37],"share":[38],"only":[39],"raw-,":[40],"feature-,":[41],"or":[42,63],"object-level":[43],"data,":[44,119,121],"lacking":[46],"the":[47,67,71,88,109,116,131,148,151,156,161,184],"flexibility":[48],"adapt":[50],"highly":[52],"dynamic":[53],"vehicular":[54],"network":[55],"conditions,":[56],"which":[57],"leads":[58],"either":[60],"bandwidth":[61,64,89],"saturation":[62],"underutilization,":[65],"degrading":[66],"precision":[69,188],"in":[70],"long":[72],"run.":[73],"In":[74],"this":[75],"article,":[76],"we":[77],"propose":[78],"ML-Cooper,":[79],"a":[80,137],"multilevel":[81],"cooperative":[82,193],"framework,":[84],"fully":[86],"utilize":[87],"hence":[91],"precision.":[94],"key":[96],"idea":[97],"ML-Cooper":[99,181],"divide":[102],"each":[103],"frame":[104],"data":[107,124,173],"sender":[110],"vehicle":[111],"into":[112],"three":[113,152],"parts,":[114],"corresponding":[117],"raw":[118],"feature":[120],"object":[123],"are":[125],"transmitted":[126],"fused":[129],"at":[130],"receiver":[132],"vehicle.":[133],"We":[134],"also":[135],"develop":[136],"soft":[138],"actor\u2013critic":[139],"(SAC)":[140],"deep":[141],"reinforcement":[142],"learning":[143],"algorithm":[144],"adaptively":[146],"adjust":[147],"proportion":[149],"parts":[153],"according":[154],"channel":[157],"state":[158],"Vehicle-to-Vehicle":[162],"(V2V)":[163],"link.":[164],"experimental":[166],"results":[167],"on":[168,175],"KITTI":[169],"our":[171],"collected":[172],"sets":[174],"two":[176],"real":[177],"show":[179],"can":[182],"achieve":[183],"highest":[185],"average":[186],"compared":[189],"single-level":[192],"schemes.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}