{"id":"https://openalex.org/W4285307725","doi":"https://doi.org/10.1109/tits.2022.3182687","title":"Improving Automated Driving Through POMDP Planning With Human Internal States","display_name":"Improving Automated Driving Through POMDP Planning With Human Internal States","publication_year":2022,"publication_date":"2022-06-20","ids":{"openalex":"https://openalex.org/W4285307725","doi":"https://doi.org/10.1109/tits.2022.3182687"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3182687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3182687","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/A5054686855","display_name":"Zachary N. Sunberg","orcid":"https://orcid.org/0000-0001-9707-3035"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Sunberg","raw_affiliation_strings":["Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":"https://orcid.org/0000-0001-9707-3035","affiliations":[{"raw_affiliation_string":"Smead Aerospace Engineering Sciences Department, University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7238-9663","affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3466,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.88161954,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"23","issue":"11","first_page":"20073","last_page":"20083"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9847000241279602,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.9744446277618408},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.6386915445327759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6129542589187622},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.5471025705337524},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5212424397468567},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5148455500602722},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.4597710371017456},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.4519696533679962},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3812670409679413},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.36640244722366333},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3213493824005127},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.23544538021087646},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14837950468063354},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.14079374074935913}],"concepts":[{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.9744446277618408},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.6386915445327759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6129542589187622},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.5471025705337524},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5212424397468567},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5148455500602722},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.4597710371017456},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.4519696533679962},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3812670409679413},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.36640244722366333},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3213493824005127},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.23544538021087646},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14837950468063354},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.14079374074935913},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3182687","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3182687","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W107054272","https://openalex.org/W123090642","https://openalex.org/W1502485165","https://openalex.org/W1518360381","https://openalex.org/W1539216098","https://openalex.org/W1605929701","https://openalex.org/W1947279355","https://openalex.org/W1961245208","https://openalex.org/W1965455100","https://openalex.org/W2032100464","https://openalex.org/W2046360076","https://openalex.org/W2056877664","https://openalex.org/W2060135607","https://openalex.org/W2083651391","https://openalex.org/W2126316555","https://openalex.org/W2168359464","https://openalex.org/W2202148372","https://openalex.org/W2319542951","https://openalex.org/W2336416123","https://openalex.org/W2411577903","https://openalex.org/W2504001346","https://openalex.org/W2561003639","https://openalex.org/W2565370028","https://openalex.org/W2594201198","https://openalex.org/W2782474430","https://openalex.org/W2795496197","https://openalex.org/W2891629498","https://openalex.org/W2949679526","https://openalex.org/W2963804019","https://openalex.org/W2964136016","https://openalex.org/W2964147651","https://openalex.org/W2966291251","https://openalex.org/W2971295974","https://openalex.org/W2979680416","https://openalex.org/W2991276938","https://openalex.org/W3003397068","https://openalex.org/W3037080429","https://openalex.org/W3089576059","https://openalex.org/W3105997285","https://openalex.org/W3135693734","https://openalex.org/W3148740559","https://openalex.org/W4214717370","https://openalex.org/W4292201236","https://openalex.org/W4303942252","https://openalex.org/W6604974139","https://openalex.org/W6631310487","https://openalex.org/W6699840735","https://openalex.org/W6763478762","https://openalex.org/W6773575949","https://openalex.org/W6791207710","https://openalex.org/W6807506054"],"related_works":["https://openalex.org/W2999848267","https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W131709709"],"abstract_inverted_index":{"This":[0,67],"work":[1],"examines":[2],"the":[3,56,82,88,97],"hypothesis":[4,32],"that":[5],"partially":[6,57],"observable":[7,58],"Markov":[8],"decision":[9],"process":[10],"(POMDP)":[11],"planning":[12,61],"with":[13,62],"human":[14],"driver":[15],"internal":[16],"states":[17],"can":[18],"significantly":[19],"improve":[20],"both":[21],"safety":[22],"and":[23,71,75],"efficiency":[24],"in":[25,33,47,93],"autonomous":[26,39],"freeway":[27],"driving.":[28],"We":[29],"evaluate":[30],"this":[31],"a":[34],"simulated":[35],"scenario":[36],"where":[37],"an":[38],"car":[40],"must":[41],"safely":[42],"perform":[43],"three":[44],"lane":[45],"changes":[46],"rapid":[48],"succession.":[49],"Approximate":[50],"POMDP":[51],"solutions":[52],"are":[53],"obtained":[54],"through":[55],"Monte":[59],"Carlo":[60],"observation":[63],"widening":[64],"(POMCPOW)":[65],"algorithm.":[66],"approach":[68],"outperforms":[69,78],"over-confident":[70],"conservative":[72],"MDP":[73,83],"baselines":[74],"matches":[76],"or":[77,95],"QMDP.":[79],"Relative":[80],"to":[81],"baselines,":[84],"POMCPOW":[85],"typically":[86],"cuts":[87],"rate":[89,99],"of":[90],"unsafe":[91],"situations":[92],"half":[94],"increases":[96],"success":[98],"by":[100],"50%.":[101]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}