{"id":"https://openalex.org/W2939569248","doi":"https://doi.org/10.1109/mci.2019.2901089","title":"Reinforcement Learning and Deep Learning Based Lateral Control for Autonomous Driving [Application Notes]","display_name":"Reinforcement Learning and Deep Learning Based Lateral Control for Autonomous Driving [Application Notes]","publication_year":2019,"publication_date":"2019-04-12","ids":{"openalex":"https://openalex.org/W2939569248","doi":"https://doi.org/10.1109/mci.2019.2901089","mag":"2939569248"},"language":"en","primary_location":{"id":"doi:10.1109/mci.2019.2901089","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mci.2019.2901089","pdf_url":"https://ieeexplore.ieee.org/ielx7/10207/8686317/08686348.pdf","source":{"id":"https://openalex.org/S104797584","display_name":"IEEE Computational Intelligence Magazine","issn_l":"1556-603X","issn":["1556-603X","1556-6048"],"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 Computational Intelligence Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/10207/8686317/08686348.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100407434","display_name":"Dong Li","orcid":"https://orcid.org/0000-0002-3758-7218"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Li","raw_affiliation_strings":["The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, CHINA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, CHINA","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100624298","display_name":"Dongbin Zhao","orcid":"https://orcid.org/0000-0001-8218-9633"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dongbin Zhao","raw_affiliation_strings":["The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, CHINA","University of Chinese Academy of Sciences, Beijing, CHINA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, CHINA","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, CHINA","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049454999","display_name":"Qichao Zhang","orcid":"https://orcid.org/0000-0001-9747-391X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Zhang","raw_affiliation_strings":["The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, CHINA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, CHINA","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053853035","display_name":"Yaran Chen","orcid":"https://orcid.org/0000-0001-9356-0610"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaran Chen","raw_affiliation_strings":["The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, CHINA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, CHINA","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100624298"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":13.5616,"has_fulltext":true,"cited_by_count":156,"citation_normalized_percentile":{"value":0.99004016,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"14","issue":"2","first_page":"83","last_page":"98"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9983999729156494,"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":0.9882000088691711,"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":0.9232629537582397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.762413501739502},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6400997042655945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6196508407592773},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5420641899108887},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4914907217025757},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4179680347442627},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.41319388151168823},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3248216211795807}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.9232629537582397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.762413501739502},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6400997042655945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6196508407592773},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5420641899108887},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4914907217025757},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4179680347442627},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.41319388151168823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3248216211795807},{"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mci.2019.2901089","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mci.2019.2901089","pdf_url":"https://ieeexplore.ieee.org/ielx7/10207/8686317/08686348.pdf","source":{"id":"https://openalex.org/S104797584","display_name":"IEEE Computational Intelligence Magazine","issn_l":"1556-603X","issn":["1556-603X","1556-6048"],"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 Computational Intelligence Magazine","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/mci.2019.2901089","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mci.2019.2901089","pdf_url":"https://ieeexplore.ieee.org/ielx7/10207/8686317/08686348.pdf","source":{"id":"https://openalex.org/S104797584","display_name":"IEEE Computational Intelligence Magazine","issn_l":"1556-603X","issn":["1556-603X","1556-6048"],"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 Computational Intelligence Magazine","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3335329605","display_name":null,"funder_award_id":"No. 61533017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4342254174","display_name":null,"funder_award_id":"61803371","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5435040519","display_name":null,"funder_award_id":"61573353; 61803371; 61533017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5745859652","display_name":null,"funder_award_id":"61573353","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7163010157","display_name":"\u57fa\u4e8e\u6570\u636e\u7684\u5efa\u7b51\u7fa4\u53ca\u5206\u5e03\u5f0f\u80fd\u6e90\u7cfb\u7edf\u4e00\u4f53\u5316\u5efa\u6a21\u4e0e\u81ea\u5b66\u4e60\u4f18\u5316\u63a7\u5236","funder_award_id":"61533017","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"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2939569248.pdf","grobid_xml":"https://content.openalex.org/works/W2939569248.grobid-xml"},"referenced_works_count":75,"referenced_works":["https://openalex.org/W1506176787","https://openalex.org/W1522301498","https://openalex.org/W1544016679","https://openalex.org/W1592601589","https://openalex.org/W1595483645","https://openalex.org/W1849362537","https://openalex.org/W1931877416","https://openalex.org/W1968651586","https://openalex.org/W2010152647","https://openalex.org/W2048257477","https://openalex.org/W2050838777","https://openalex.org/W2055207897","https://openalex.org/W2076871378","https://openalex.org/W2095705004","https://openalex.org/W2100677568","https://openalex.org/W2101419263","https://openalex.org/W2119112357","https://openalex.org/W2119717200","https://openalex.org/W2121806728","https://openalex.org/W2121863487","https://openalex.org/W2132266610","https://openalex.org/W2133233905","https://openalex.org/W2138228305","https://openalex.org/W2142641780","https://openalex.org/W2145339207","https://openalex.org/W2150066425","https://openalex.org/W2156200251","https://openalex.org/W2159571856","https://openalex.org/W2165150801","https://openalex.org/W2165501837","https://openalex.org/W2165644552","https://openalex.org/W2173248099","https://openalex.org/W2183137222","https://openalex.org/W2233094356","https://openalex.org/W2248593045","https://openalex.org/W2406067508","https://openalex.org/W2468368736","https://openalex.org/W2478820856","https://openalex.org/W2510089447","https://openalex.org/W2524771588","https://openalex.org/W2549401308","https://openalex.org/W2552178666","https://openalex.org/W2606548817","https://openalex.org/W2727840223","https://openalex.org/W2742332513","https://openalex.org/W2742483371","https://openalex.org/W2763500568","https://openalex.org/W2766447205","https://openalex.org/W2767286446","https://openalex.org/W2793780249","https://openalex.org/W2913340405","https://openalex.org/W2951153957","https://openalex.org/W2962957031","https://openalex.org/W2963677766","https://openalex.org/W2963864421","https://openalex.org/W2963877604","https://openalex.org/W2964121744","https://openalex.org/W3011120880","https://openalex.org/W3041202696","https://openalex.org/W3139377883","https://openalex.org/W3146876554","https://openalex.org/W4214717370","https://openalex.org/W4242031213","https://openalex.org/W4293682399","https://openalex.org/W4302570325","https://openalex.org/W6631190155","https://openalex.org/W6640174482","https://openalex.org/W6674330103","https://openalex.org/W6680724558","https://openalex.org/W6682691165","https://openalex.org/W6684205842","https://openalex.org/W6684671274","https://openalex.org/W6684921986","https://openalex.org/W6738279954","https://openalex.org/W6745996482"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"t":[0],"his":[1],"paper":[2],"investigates":[3],"the":[4,18,25,61,86,103,112,121,133,145,164,171,177,182],"vision-":[5],"based":[6,44,69,78,101],"autonomous":[7],"driving":[8],"with":[9,120,185],"deep":[10,95],"learning":[11,14,20,48,72,97,142],"and":[12,35,59,151,170],"reinforcement":[13,71,96,141],"methods.":[15],"Different":[16],"from":[17],"end-to-end":[19],"method,":[21],"our":[22],"method":[23],"breaks":[24],"vision-based":[26],"lateral":[27],"control":[28,37,65,76,154],"system":[29],"down":[30],"into":[31],"a":[32,36,46,53,75,94],"perception":[33,40,134,165],"module":[34,41,66,166],"module.":[38],"The":[39,64,139,160],"which":[42,67,99],"is":[43,68,100,173],"on":[45,70,79,102,136,157],"multi-task":[47],"neural":[49],"network":[50],"first":[51],"takes":[52],"driver-view":[54],"image":[55,125],"as":[56],"its":[57],"input":[58,122],"predicts":[60],"track":[62,183],"features.":[63,81],"then":[73],"makes":[74],"decision":[77],"these":[80],"In":[82],"order":[83],"to":[84],"improve":[85],"data":[87],"efficiency,":[88],"we":[89],"propose":[90],"visual":[91,186],"TORCS":[92],"(VTORCS),":[93],"environment":[98],"open":[104],"racing":[105],"car":[106],"simulator":[107],"(TORCS).":[108],"By":[109],"means":[110],"of":[111,123,175],"provided":[113],"functions,":[114],"one":[115],"can":[116],"train":[117],"an":[118,124],"agent":[119],"or":[126,131],"various":[127],"physical":[128],"sensor":[129],"measurement,":[130],"evaluate":[132],"algorithm":[135],"this":[137],"simulator.":[138],"trained":[140],"controller":[143,150,156,172],"outperforms":[144],"linear":[146],"quadratic":[147],"regulator":[148],"(LQR)":[149],"model":[152],"predictive":[153],"(MPC)":[155],"different":[158],"tracks.":[159],"experiments":[161],"demonstrate":[162],"that":[163],"shows":[167],"promising":[168],"performance":[169],"capable":[174],"controlling":[176],"vehicle":[178],"drive":[179],"well":[180],"along":[181],"center":[184],"input.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":29},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":11}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
