{"id":"https://openalex.org/W4288064502","doi":"https://doi.org/10.1109/tits.2022.3185255","title":"An Integrated Model for Autonomous Speed and Lane Change Decision-Making Based on Deep Reinforcement Learning","display_name":"An Integrated Model for Autonomous Speed and Lane Change Decision-Making Based on Deep Reinforcement Learning","publication_year":2022,"publication_date":"2022-07-27","ids":{"openalex":"https://openalex.org/W4288064502","doi":"https://doi.org/10.1109/tits.2022.3185255"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3185255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3185255","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/A5079942913","display_name":"Jiankun Peng","orcid":"https://orcid.org/0000-0003-1444-9741"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiankun Peng","raw_affiliation_strings":["School of Transportation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-1444-9741","affiliations":[{"raw_affiliation_string":"School of Transportation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347370","display_name":"Siyu Zhang","orcid":"https://orcid.org/0000-0001-5777-7687"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyu Zhang","raw_affiliation_strings":["School of Transportation, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025735445","display_name":"Yang Zhou","orcid":"https://orcid.org/0000-0001-5366-5389"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang Zhou","raw_affiliation_strings":["Department of Civil and Environmental Engineering, University of Wisconsin&#x2013;Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0001-5366-5389","affiliations":[{"raw_affiliation_string":"Department of Civil and Environmental Engineering, University of Wisconsin&#x2013;Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351555","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0001-7192-6853"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["School of Transportation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-7192-6853","affiliations":[{"raw_affiliation_string":"School of Transportation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5079942913"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":10.5711,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.99050578,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"23","issue":"11","first_page":"21848","last_page":"21860"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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/T10370","display_name":"Traffic and Road Safety","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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":0.7914438247680664},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5662363767623901},{"id":"https://openalex.org/keywords/bellman-equation","display_name":"Bellman equation","score":0.558853030204773},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5417507290840149},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5250717997550964},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.47339117527008057},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4694395065307617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38290417194366455},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37685626745224},{"id":"https://openalex.org/keywords/industrial-engineering","display_name":"Industrial engineering","score":0.36999374628067017},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3456210196018219},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.33168309926986694},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.21633696556091309}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7914438247680664},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5662363767623901},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.558853030204773},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5417507290840149},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5250717997550964},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47339117527008057},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4694395065307617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38290417194366455},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37685626745224},{"id":"https://openalex.org/C13736549","wikidata":"https://www.wikidata.org/wiki/Q4489420","display_name":"Industrial engineering","level":1,"score":0.36999374628067017},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3456210196018219},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.33168309926986694},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.21633696556091309},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3185255","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3185255","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":0.6499999761581421,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G5891868115","display_name":null,"funder_award_id":"52072074","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6712796384","display_name":null,"funder_award_id":"2242021R40007","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324856","display_name":"Southeast University","ror":"https://ror.org/04ct4d772"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1583092847","https://openalex.org/W1592568942","https://openalex.org/W1966963739","https://openalex.org/W1968719911","https://openalex.org/W1981976524","https://openalex.org/W2007700466","https://openalex.org/W2011931151","https://openalex.org/W2047688790","https://openalex.org/W2053924531","https://openalex.org/W2055311376","https://openalex.org/W2056877664","https://openalex.org/W2070554565","https://openalex.org/W2082006479","https://openalex.org/W2089080831","https://openalex.org/W2090023516","https://openalex.org/W2090403203","https://openalex.org/W2092399389","https://openalex.org/W2094866480","https://openalex.org/W2111876879","https://openalex.org/W2135876349","https://openalex.org/W2140466491","https://openalex.org/W2144061709","https://openalex.org/W2144194565","https://openalex.org/W2154376416","https://openalex.org/W2156958801","https://openalex.org/W2207774219","https://openalex.org/W2499802731","https://openalex.org/W2599174273","https://openalex.org/W2606682591","https://openalex.org/W2805499321","https://openalex.org/W2912445127","https://openalex.org/W2941613377","https://openalex.org/W2957228561","https://openalex.org/W2969758225","https://openalex.org/W2977843878","https://openalex.org/W2991052353","https://openalex.org/W3005836852","https://openalex.org/W3007923353","https://openalex.org/W3083846300","https://openalex.org/W3107132985","https://openalex.org/W3120870661","https://openalex.org/W3124349007","https://openalex.org/W3165519255","https://openalex.org/W3209253128","https://openalex.org/W3211345831","https://openalex.org/W6761836531"],"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/W2386410636","https://openalex.org/W3038962357","https://openalex.org/W2025663273","https://openalex.org/W3099153698"],"abstract_inverted_index":{"The":[0],"implementation":[1],"of":[2,37,81,102,108,173,217],"autonomous":[3],"driving":[4,10,44,182,215],"is":[5,143,163],"inseparable":[6],"from":[7,117],"developing":[8],"intelligent":[9],"decision-making":[11,20,27,53],"models,":[12],"which":[13,223],"are":[14,136,206],"facing":[15],"high":[16],"scene":[17],"complexity,":[18],"poor":[19],"coupling,":[21],"and":[22,35,40,47,66,75,84,105,131,154,192],"the":[23,33,64,77,88,94,99,103,106,118,126,146,166,171,174,209,214,218],"inability":[24],"to":[25,69,97,138,150,169,185,196,199],"guarantee":[26],"safety.":[28],"This":[29,55,177],"paper":[30,56,178],"starts":[31],"with":[32],"priority":[34],"logic":[36],"lane":[38,127],"change":[39],"car-following":[41,85,152],"decision-making,":[42],"considering":[43],"efficiency,":[45],"safety,":[46],"comfort,":[48],"then":[49],"constructs":[50],"a":[51,187],"double-layer":[52,175,210],"model.":[54,176,202],"uses":[57],"two":[58,167],"deep":[59],"reinforcement":[60],"learning":[61],"algorithms":[62,168],"for":[63,165],"upper":[65,89],"lower":[67,147],"layers":[68],"process":[70,151],"large-scale":[71],"mixed":[72,180],"state":[73],"space":[74],"ensure":[76],"composite":[78],"action":[79,133],"output":[80,155],"lane-changing":[82,110,114],"decisions":[83,153],"decisions.":[86,115],"In":[87],"layer":[90,148],"model,":[91],"we":[92],"use":[93,123],"D3QN":[95],"algorithm":[96,142],"distinguish":[98],"potential":[100],"value":[101,107],"environment":[104,191],"selecting":[109],"actions":[111],"when":[112],"making":[113],"Different":[116],"traditional":[119],"mechanisms":[120],"that":[121,208],"only":[122],"negative":[124],"rewards,":[125],"changing":[128],"benefit":[129],"function":[130],"dangerous":[132],"shielding":[134],"mechanism":[135],"used":[137,193],"eliminate":[139],"collisions.":[140],"DDPG":[141],"adopted":[144],"in":[145,204],"model":[149,211],"continuous":[156],"vehicle":[157],"speed":[158,216],"control.":[159],"Besides,":[160],"coupled":[161],"training":[162,190],"taken":[164],"improve":[170],"coordination":[172],"selected":[179],"standard":[181],"cycle":[183],"conditions":[184],"build":[186],"highly":[188],"complex":[189],"NGSIM":[194],"data":[195,220],"reconstruct":[197],"scenes":[198],"test":[200],"our":[201],"Simulations":[203],"SUMO":[205],"presented":[207],"can":[212],"increase":[213],"original":[219],"by":[221],"23.99%,":[222],"has":[224],"higher":[225],"effectiveness":[226],"than":[227],"other":[228],"models.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
