{"id":"https://openalex.org/W4312974600","doi":"https://doi.org/10.1109/tits.2022.3216288","title":"Multi-Agent DRL-Based Lane Change With Right-of-Way Collaboration Awareness","display_name":"Multi-Agent DRL-Based Lane Change With Right-of-Way Collaboration Awareness","publication_year":2022,"publication_date":"2022-11-04","ids":{"openalex":"https://openalex.org/W4312974600","doi":"https://doi.org/10.1109/tits.2022.3216288"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2022.3216288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3216288","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/A5100462845","display_name":"Jiawei Zhang","orcid":"https://orcid.org/0000-0002-8634-1687"},"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":"Jiawei Zhang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8634-1687","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002066189","display_name":"Cheng Chang","orcid":"https://orcid.org/0000-0003-2768-5866"},"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":"Cheng Chang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2768-5866","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015366869","display_name":"Xianlin Zeng","orcid":"https://orcid.org/0000-0002-6224-9974"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianlin Zeng","raw_affiliation_strings":["Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6224-9974","affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114911316","display_name":"Li Li","orcid":"https://orcid.org/0000-0002-9428-1960"},"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":"Li Li","raw_affiliation_strings":["Department of Automation, BNRist, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9428-1960","affiliations":[{"raw_affiliation_string":"Department of Automation, BNRist, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.9865,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.97517371,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"24","issue":"1","first_page":"854","last_page":"869"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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":0.9896000027656555,"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":0.7403644919395447},{"id":"https://openalex.org/keywords/negotiation","display_name":"Negotiation","score":0.5834353566169739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5454913973808289},{"id":"https://openalex.org/keywords/inefficiency","display_name":"Inefficiency","score":0.4976039230823517},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44351497292518616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37225401401519775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3459550142288208},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.34361594915390015},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.32112976908683777}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7403644919395447},{"id":"https://openalex.org/C199776023","wikidata":"https://www.wikidata.org/wiki/Q202875","display_name":"Negotiation","level":2,"score":0.5834353566169739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5454913973808289},{"id":"https://openalex.org/C2778869765","wikidata":"https://www.wikidata.org/wiki/Q6028363","display_name":"Inefficiency","level":2,"score":0.4976039230823517},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44351497292518616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37225401401519775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3459550142288208},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.34361594915390015},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.32112976908683777},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2022.3216288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2022.3216288","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":"Peace, Justice and strong institutions","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G5149796413","display_name":null,"funder_award_id":"2020AAA0108104","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W104927110","https://openalex.org/W1521666793","https://openalex.org/W1968508709","https://openalex.org/W2007700466","https://openalex.org/W2011931151","https://openalex.org/W2056877664","https://openalex.org/W2118045339","https://openalex.org/W2295624363","https://openalex.org/W2517236235","https://openalex.org/W2783963507","https://openalex.org/W2904229307","https://openalex.org/W2904246096","https://openalex.org/W2904263972","https://openalex.org/W2905334533","https://openalex.org/W2912471136","https://openalex.org/W2915916313","https://openalex.org/W2963821308","https://openalex.org/W2976534600","https://openalex.org/W2978585366","https://openalex.org/W2981037657","https://openalex.org/W2981207549","https://openalex.org/W2991137823","https://openalex.org/W3004129452","https://openalex.org/W3045517780","https://openalex.org/W3090027660","https://openalex.org/W3093426589","https://openalex.org/W3095749623","https://openalex.org/W3121045039","https://openalex.org/W3124225140","https://openalex.org/W3127561923","https://openalex.org/W3154378057","https://openalex.org/W3161282663","https://openalex.org/W3162378494","https://openalex.org/W3179694074","https://openalex.org/W3184204692","https://openalex.org/W3196890180","https://openalex.org/W3206518075","https://openalex.org/W3210357575","https://openalex.org/W3211345831","https://openalex.org/W3217694967","https://openalex.org/W4200086871","https://openalex.org/W4205272462","https://openalex.org/W4213230486","https://openalex.org/W4214496626","https://openalex.org/W4223628423","https://openalex.org/W4225773298","https://openalex.org/W4226239849","https://openalex.org/W4226436200","https://openalex.org/W4280531543","https://openalex.org/W4285266601","https://openalex.org/W4308080032","https://openalex.org/W4308080204","https://openalex.org/W4312599226","https://openalex.org/W6604331516","https://openalex.org/W6697294893","https://openalex.org/W6747473740","https://openalex.org/W6757592117","https://openalex.org/W6769218391","https://openalex.org/W6784183654","https://openalex.org/W6803572779"],"related_works":["https://openalex.org/W2264067234","https://openalex.org/W3124243301","https://openalex.org/W1571502335","https://openalex.org/W1589409554","https://openalex.org/W2759038785","https://openalex.org/W2172232600","https://openalex.org/W3123876860","https://openalex.org/W3124172198","https://openalex.org/W2046181650","https://openalex.org/W2142633247"],"abstract_inverted_index":{"Lane":[0],"change":[1],"is":[2,92,108,198,240],"a":[3,36,82,93,109,138,146,190],"common-yet-challenging":[4],"driving":[5,48,66,160],"behavior":[6,34,85],"for":[7,150],"automated":[8,17],"vehicles.":[9],"To":[10],"improve":[11],"the":[12,29,41,77,89,105,117,121,133,153,159,166,177,183,187,202,212,222,231,235,244,253,267,275,280,284,288,297],"safety":[13,245,276],"and":[14,58,68,80,104,181,261,271,277],"efficiency":[15,278],"of":[16,28,120,162,214,246,279,291,300],"vehicles,":[18,61,292],"researchers":[19],"have":[20],"proposed":[21,254,285],"various":[22],"lane-change":[23,33,78,84,101,123,134,233,247,263],"decision":[24,102,124,135],"models.":[25],"However,":[26],"most":[27],"existing":[30],"models":[31,52],"consider":[32,205],"as":[35],"one-player":[37],"decision-making":[38,180],"problem,":[39],"ignoring":[40],"essential":[42],"multi-agent":[43,95,140,223],"properties":[44],"when":[45],"vehicles":[46,164,173,203,270],"are":[47],"in":[49,56,64,179,189,272],"traffic.":[50,282],"Such":[51],"lead":[53,257,295],"to":[54,174,185,200,204,225,242,258,296],"deficiencies":[55],"interaction":[57],"collaboration":[59,118,151,268],"between":[60,269],"which":[62,144,169,219,265,293],"results":[63],"hazardous":[65],"behaviors":[67],"overall":[69,281],"traffic":[70,301],"inefficiency.":[71],"In":[72],"this":[73],"paper,":[74],"we":[75,131,157],"revisit":[76],"problem":[79,136],"propose":[81],"bi-level":[83],"planning":[86],"strategy,":[87],"where":[88],"upper":[90],"level":[91,107],"novel":[94,139],"deep":[96],"reinforcement":[97,141],"learning":[98,142],"(DRL)":[99],"based":[100,111],"model":[103,125,184,239],"lower":[106],"negotiation":[110],"right-of-way":[112,178,188,237],"assignment":[113,238],"model.":[114,155],"We":[115],"promote":[116,287],"performance":[119],"upper-level":[122,232],"from":[126],"three":[127],"crucial":[128],"aspects.":[129],"First,":[130],"formulate":[132],"with":[137],"model,":[143],"provides":[145],"more":[147],"appropriate":[148],"paradigm":[149],"than":[152],"single-agent":[154],"Second,":[156],"encode":[158],"intentions":[161],"surrounding":[163],"into":[165],"observation":[167],"space,":[168],"can":[170,256,294],"empower":[171],"multiple":[172],"implicitly":[175],"negotiate":[176],"enable":[182],"determine":[186],"collaborative":[191],"manner.":[192],"Third,":[193],"an":[194],"ingenious":[195],"reward":[196],"function":[197],"designed":[199],"allow":[201],"not":[206],"only":[207],"ego":[208],"benefits":[209],"but":[210],"also":[211],"impact":[213],"changing":[215],"lanes":[216],"on":[217],"traffic,":[218],"will":[220],"guide":[221],"system":[224],"learn":[226],"excellent":[227],"coordination":[228],"performance.":[229],"With":[230],"decisions,":[234],"lower-level":[236],"used":[241],"guarantee":[243],"behaviors.":[248],"The":[249],"experiments":[250],"show":[251],"that":[252],"approaches":[255,286],"safe,":[259],"efficient,":[260],"harmonious":[262],"behaviors,":[264],"boosts":[266],"turn":[273],"improves":[274],"Moreover,":[283],"microscopic":[289],"synchronization":[290,299],"macroscopic":[298],"flow.":[302]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-25T15:57:00.446498","created_date":"2025-10-10T00:00:00"}
