{"id":"https://openalex.org/W3139187989","doi":"https://doi.org/10.1109/tits.2021.3055899","title":"Learning to Drive Like Human Beings: A Method Based on Deep Reinforcement Learning","display_name":"Learning to Drive Like Human Beings: A Method Based on Deep Reinforcement Learning","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W3139187989","doi":"https://doi.org/10.1109/tits.2021.3055899","mag":"3139187989"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2021.3055899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3055899","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5100886284","display_name":"Yantao Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yantao Tian","raw_affiliation_strings":["Department of Control Science and Engineering, Jilin University, Changchun, China","Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085779829","display_name":"Xuanhao Cao","orcid":"https://orcid.org/0000-0003-4029-6427"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanhao Cao","raw_affiliation_strings":["Department of Control Science and Engineering, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-4029-6427","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013606267","display_name":"Kai Huang","orcid":"https://orcid.org/0000-0001-8400-9341"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Huang","raw_affiliation_strings":["Department of Control Science and Engineering, Jilin University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101691433","display_name":"Cong Fei","orcid":"https://orcid.org/0000-0002-7156-1230"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong Fei","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhu Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I63371133","display_name":"Chongqing Jiaotong University","ror":"https://ror.org/01t001k65","country_code":"CN","type":"education","lineage":["https://openalex.org/I63371133"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhu Zheng","raw_affiliation_strings":["School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing, China","institution_ids":["https://openalex.org/I63371133"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024351828","display_name":"Xuewu Ji","orcid":"https://orcid.org/0000-0002-5242-8119"},"institutions":[{"id":"https://openalex.org/I63371133","display_name":"Chongqing Jiaotong University","ror":"https://ror.org/01t001k65","country_code":"CN","type":"education","lineage":["https://openalex.org/I63371133"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuewu Ji","raw_affiliation_strings":["School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing, China","institution_ids":["https://openalex.org/I63371133"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.2167,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.975015,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"23","issue":"7","first_page":"6357","last_page":"6367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9922000169754028,"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":0.8106406927108765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5528610348701477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5191449522972107},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.48519352078437805},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33990955352783203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31853774189949036},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07491961121559143}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8106406927108765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5528610348701477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5191449522972107},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.48519352078437805},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33990955352783203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31853774189949036},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07491961121559143}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2021.3055899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3055899","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1915086893","display_name":null,"funder_award_id":"U1664263","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5702282270","display_name":null,"funder_award_id":"U19A2069","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8643382381","display_name":null,"funder_award_id":"51975311","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1500564636","https://openalex.org/W2017957151","https://openalex.org/W2051228319","https://openalex.org/W2099618002","https://openalex.org/W2119112357","https://openalex.org/W2127653865","https://openalex.org/W2133233905","https://openalex.org/W2141559645","https://openalex.org/W2144304287","https://openalex.org/W2151361137","https://openalex.org/W2155007355","https://openalex.org/W2257979135","https://openalex.org/W2342840547","https://openalex.org/W2524886531","https://openalex.org/W2559767995","https://openalex.org/W2595697910","https://openalex.org/W2741122588","https://openalex.org/W2745090846","https://openalex.org/W2745868649","https://openalex.org/W2786800733","https://openalex.org/W2788862220","https://openalex.org/W2807340089","https://openalex.org/W2810785043","https://openalex.org/W2904386121","https://openalex.org/W2962736495","https://openalex.org/W2962853428","https://openalex.org/W2962887844","https://openalex.org/W2962894046","https://openalex.org/W2962977206","https://openalex.org/W2963057120","https://openalex.org/W2963311874","https://openalex.org/W2963523627","https://openalex.org/W2963625099","https://openalex.org/W2963864421","https://openalex.org/W3006912862","https://openalex.org/W4297797010","https://openalex.org/W4394667632","https://openalex.org/W6682849425","https://openalex.org/W6684205842","https://openalex.org/W6684921986","https://openalex.org/W6692846177","https://openalex.org/W6704559304","https://openalex.org/W6727222535","https://openalex.org/W6730751587","https://openalex.org/W6741302124","https://openalex.org/W6742461812","https://openalex.org/W6742958495","https://openalex.org/W6748221089","https://openalex.org/W6748638692","https://openalex.org/W6752216966","https://openalex.org/W6752818208","https://openalex.org/W6753243525","https://openalex.org/W6756714161","https://openalex.org/W6863971972"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"In":[0,103],"this":[1,161,212],"paper,":[2],"a":[3,41,122,140,183],"new":[4],"framework":[5,209],"for":[6,81,127,178,191,240],"path":[7,82,232],"tracking":[8,83],"is":[9,24,50,97,144,188,214],"proposed":[10,210],"through":[11,34,59],"learning":[12,31,35,48,70,118],"to":[13,26,52,105,146],"drive":[14],"like":[15],"human":[16],"beings.":[17],"Firstly,":[18],"the":[19,28,36,72,100,108,112,117,128,148,156,204,208,220,224,230,237],"imitation":[20],"algorithm":[21,33,49],"(behavior":[22],"cloning)":[23],"adopted":[25,51,98],"initialize":[27],"deep":[29,46,68],"reinforcement":[30,47,69],"(DRL)":[32],"professional":[37],"drivers\u2019":[38],"experience.":[39],"Secondly,":[40],"continuous,":[42],"deterministic,":[43],"model":[44,56,74,114,227],"free":[45],"optimize":[53],"our":[54],"DRL":[55,73,101,113,226],"on":[57,160],"line":[58],"trial":[60],"and":[61,67,90,115,136,139,197,203,223,235],"error.":[62],"By":[63],"combining":[64],"behavior":[65],"cloning":[66],"algorithms,":[71],"can":[75,167,228],"learn":[76],"an":[77],"effective":[78],"policy":[79],"quickly":[80],"using":[84],"some":[85,170],"easy-to-measure":[86],"vehicle":[87,137],"state":[88,173,176],"parameters":[89],"environment":[91],"information":[92,174],"as":[93,175],"inputs.":[94],"Actor-Critic":[95],"structure":[96,126],"in":[99,211],"algorithm.":[102],"order":[104],"speed":[106],"up":[107],"convergence":[109],"rate":[110],"of":[111,151,185],"improve":[116],"effect,":[119],"we":[120,166],"propose":[121],"dual":[123,152,162],"actor":[124,153,163],"networks":[125,154,164],"two":[129],"different":[130,179,241],"action":[131,180],"outputs":[132],"(steering":[133],"wheel":[134],"angle":[135],"speed),":[138],"chief":[141],"critic":[142],"network":[143],"built":[145],"guide":[147],"updating":[149],"process":[150],"at":[155],"same":[157],"time.":[158],"Based":[159],"structure,":[165],"pick":[168],"out":[169],"more":[171,215],"important":[172],"inputs":[177],"outputs.":[181],"Besides,":[182],"kind":[184],"reward":[186],"mechanism":[187],"also":[189],"presented":[190],"autonomous":[192],"driving.":[193],"Finally,":[194],"simulation":[195],"training":[196],"experiment":[198],"test":[199],"are":[200],"carried":[201],"out,":[202],"results":[205],"confirm":[206],"that":[207],"paper":[213],"than":[216,219],"data":[217],"efficient":[218],"original":[221],"algorithm,":[222],"trained":[225],"track":[229],"reference":[231],"with":[233],"accuracy":[234],"has":[236],"generalization":[238],"ability":[239],"roads.":[242]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
