{"id":"https://openalex.org/W4400679028","doi":"https://doi.org/10.1109/tii.2024.3423423","title":"Enhancing Autonomous Lane-Changing Safety: Deep Reinforcement Learning via Pre-Exploration in Parallel Imaginary Environments","display_name":"Enhancing Autonomous Lane-Changing Safety: Deep Reinforcement Learning via Pre-Exploration in Parallel Imaginary Environments","publication_year":2024,"publication_date":"2024-07-16","ids":{"openalex":"https://openalex.org/W4400679028","doi":"https://doi.org/10.1109/tii.2024.3423423"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2024.3423423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3423423","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Transactions on Industrial Informatics","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/A5057174728","display_name":"Zhiqun Hu","orcid":"https://orcid.org/0000-0002-5666-1401"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiqun Hu","raw_affiliation_strings":["Beijing Key Laboratory for Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104230443","display_name":"Fukun Yang","orcid":"https://orcid.org/0009-0001-4130-6562"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fukun Yang","raw_affiliation_strings":["Beijing Key Laboratory for Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019111566","display_name":"Zhaoming Lu","orcid":"https://orcid.org/0000-0002-0182-1770"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoming Lu","raw_affiliation_strings":["Beijing Key Laboratory for Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory for Network System Architecture and Convergence, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025694490","display_name":"Jenhui Chen","orcid":"https://orcid.org/0000-0002-8372-9221"},"institutions":[{"id":"https://openalex.org/I173093425","display_name":"Chang Gung University","ror":"https://ror.org/00d80zx46","country_code":"TW","type":"education","lineage":["https://openalex.org/I173093425"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jenhui Chen","raw_affiliation_strings":["Department of Computer Science and Information Engineering, Chang Gung University, Taoyuan, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Information Engineering, Chang Gung University, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I173093425"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057174728"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":null,"apc_paid":null,"fwci":0.4329,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59914843,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"20","issue":"10","first_page":"12385","last_page":"12395"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9848999977111816,"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":0.9848999977111816,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9714000225067139,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9577000141143799,"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":0.743095338344574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6214859485626221},{"id":"https://openalex.org/keywords/the-imaginary","display_name":"The Imaginary","score":0.6173898577690125},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.41304126381874084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35935842990875244},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3566886782646179},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2443547546863556},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10244843363761902}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.743095338344574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6214859485626221},{"id":"https://openalex.org/C135068731","wikidata":"https://www.wikidata.org/wiki/Q1169049","display_name":"The Imaginary","level":2,"score":0.6173898577690125},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.41304126381874084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35935842990875244},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3566886782646179},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2443547546863556},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10244843363761902},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2024.3423423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3423423","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Transactions on Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2748469584","display_name":null,"funder_award_id":"L222047","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1592601589","https://openalex.org/W1965455100","https://openalex.org/W2113922565","https://openalex.org/W2162489854","https://openalex.org/W2540641548","https://openalex.org/W2767050701","https://openalex.org/W2887709062","https://openalex.org/W2904263972","https://openalex.org/W2947742306","https://openalex.org/W2966735560","https://openalex.org/W2970065535","https://openalex.org/W2991448601","https://openalex.org/W2999233123","https://openalex.org/W3006463925","https://openalex.org/W3024731701","https://openalex.org/W3045517780","https://openalex.org/W3101442004","https://openalex.org/W3115737827","https://openalex.org/W3121045039","https://openalex.org/W3136325136","https://openalex.org/W3150718622","https://openalex.org/W3190316676","https://openalex.org/W4205584175","https://openalex.org/W4283396661","https://openalex.org/W4308079957","https://openalex.org/W4312911566","https://openalex.org/W4318827475","https://openalex.org/W4380558711","https://openalex.org/W4384499218","https://openalex.org/W4386821348","https://openalex.org/W4393159693","https://openalex.org/W6751535212","https://openalex.org/W6758924645","https://openalex.org/W6774126978"],"related_works":["https://openalex.org/W3016733773","https://openalex.org/W2491088243","https://openalex.org/W1979400567","https://openalex.org/W2353064048","https://openalex.org/W2000265659","https://openalex.org/W2754367428","https://openalex.org/W4389942819","https://openalex.org/W2982365196","https://openalex.org/W4309512917","https://openalex.org/W2390332902"],"abstract_inverted_index":{"The":[0,78,163],"connected":[1],"and":[2,31,49,75,196],"autonomous":[3,67],"vehicles":[4],"combined":[5],"with":[6,160,194],"deep":[7,165],"reinforcement":[8,26],"learning":[9,27,199],"(DRL)":[10],"are":[11,123],"capable":[12],"of":[13,25,51,139],"handling":[14],"complex":[15],"driving":[16],"scenarios.":[17],"However,":[18],"due":[19],"to":[20,83,92,113,136,157,175],"the":[21,38,85,89,94,97,115,140,148,172,191,201],"random":[22],"exploration":[23,74,121],"feature":[24],"(RL),":[28],"unexpected":[29],"actions":[30,95],"collisions":[32],"that":[33,70,96,183],"would":[34],"be":[35],"inevitable":[36],"in":[37,45,57,66,125],"real":[39],"world":[40],"occur":[41],"during":[42,101,190],"training,":[43,102],"resulting":[44],"property":[46],"damage,":[47],"injury,":[48],"loss":[50],"life.":[52],"To":[53],"address":[54],"this":[55,58],"issue,":[56],"article,":[59],"we":[60],"propose":[61],"a":[62,108,152],"sophisticated":[63],"safe":[64,161],"DRL":[65],"lane":[68],"changing":[69],"benefits":[71],"from":[72],"both":[73],"optimization":[76],"capabilities.":[77],"key":[79],"idea":[80],"is":[81,104,134,145,169],"first":[82],"integrate":[84],"safety":[86,189],"constraints":[87],"into":[88],"RL":[90,173],"algorithm":[91,174],"limit":[93],"agent":[98],"can":[99],"take":[100],"which":[103,126],"implemented":[105],"by":[106],"designing":[107],"vehicle":[109],"convex":[110],"occupancy":[111],"approximation":[112],"estimate":[114],"candidate":[116],"action":[117,177],"set.":[118],"Then,":[119],"adaptive":[120],"strategies":[122],"used,":[124],"an":[127],"imaginary":[128],"environment":[129],"based":[130],"on":[131],"domain":[132],"randomization":[133],"built":[135],"explore":[137],"areas":[138],"action\u2013state":[141],"space":[142,178],"where":[143],"it":[144],"uncertain":[146],"about":[147],"outcomes.":[149],"We":[150],"present":[151],"Monte":[153],"Carlo":[154],"tree":[155],"search":[156],"replace":[158],"unsafe":[159],"action.":[162],"twin-delayed":[164],"deterministic":[166],"policy":[167],"gradient":[168],"used":[170],"as":[171],"train":[176],"agents.":[179],"Experimental":[180],"results":[181],"show":[182],"our":[184],"proposed":[185],"framework":[186],"significantly":[187],"enhances":[188],"lane-change":[192],"process":[193],"faster":[195],"more":[197],"stable":[198],"than":[200],"other":[202],"methods.":[203]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}