{"id":"https://openalex.org/W4381198920","doi":"https://doi.org/10.1109/tits.2023.3283019","title":"Uncertainty-Aware Decision-Making for Autonomous Driving at Uncontrolled Intersections","display_name":"Uncertainty-Aware Decision-Making for Autonomous Driving at Uncontrolled Intersections","publication_year":2023,"publication_date":"2023-06-19","ids":{"openalex":"https://openalex.org/W4381198920","doi":"https://doi.org/10.1109/tits.2023.3283019"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3283019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3283019","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/A5077232157","display_name":"Xiaolin Tang","orcid":"https://orcid.org/0000-0001-5709-291X"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaolin Tang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002228382","display_name":"Guichuan Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guichuan Zhong","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107117626","display_name":"Shen Li","orcid":"https://orcid.org/0000-0002-7111-8861"},"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":"Shen Li","raw_affiliation_strings":["School of Civil Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Civil Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020979955","display_name":"Kai Yang","orcid":"https://orcid.org/0000-0002-5530-9326"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Yang","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075455242","display_name":"Keqi Shu","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Keqi Shu","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031991761","display_name":"Dongpu Cao","orcid":"https://orcid.org/0000-0001-7929-4336"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Dongpu Cao","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077446544","display_name":"Xianke Lin","orcid":"https://orcid.org/0000-0001-5695-248X"},"institutions":[{"id":"https://openalex.org/I39470171","display_name":"Ontario Tech University","ror":"https://ror.org/016zre027","country_code":"CA","type":"education","lineage":["https://openalex.org/I39470171"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xianke Lin","raw_affiliation_strings":["Department of Automotive and Mechatronics Engineering, Ontario Tech University, Oshawa, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Automotive and Mechatronics Engineering, Ontario Tech University, Oshawa, Canada","institution_ids":["https://openalex.org/I39470171"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5077232157"],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":4.3463,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.94927513,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"24","issue":"9","first_page":"9725","last_page":"9735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994999766349792,"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/T12095","display_name":"Vehicle emissions and performance","score":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/cvar","display_name":"CVAR","score":0.7467501163482666},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.6670576333999634},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6528658866882324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5960564017295837},{"id":"https://openalex.org/keywords/quantile","display_name":"Quantile","score":0.5957034230232239},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4716828465461731},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.440085232257843},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.352704793214798},{"id":"https://openalex.org/keywords/expected-shortfall","display_name":"Expected shortfall","score":0.3225935101509094},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2802255153656006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2460714876651764},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.20779216289520264},{"id":"https://openalex.org/keywords/econometrics","display_name":"Econometrics","score":0.1952459216117859},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12793034315109253},{"id":"https://openalex.org/keywords/risk-management","display_name":"Risk management","score":0.11694163084030151}],"concepts":[{"id":"https://openalex.org/C2779922397","wikidata":"https://www.wikidata.org/wiki/Q5014755","display_name":"CVAR","level":4,"score":0.7467501163482666},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6670576333999634},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6528658866882324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5960564017295837},{"id":"https://openalex.org/C118671147","wikidata":"https://www.wikidata.org/wiki/Q578714","display_name":"Quantile","level":2,"score":0.5957034230232239},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4716828465461731},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.440085232257843},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.352704793214798},{"id":"https://openalex.org/C5496284","wikidata":"https://www.wikidata.org/wiki/Q5420856","display_name":"Expected shortfall","level":3,"score":0.3225935101509094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2802255153656006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2460714876651764},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.20779216289520264},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.1952459216117859},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12793034315109253},{"id":"https://openalex.org/C32896092","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Risk management","level":2,"score":0.11694163084030151},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3283019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3283019","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.800000011920929}],"awards":[{"id":"https://openalex.org/G7642845445","display_name":null,"funder_award_id":"52072051","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":41,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2741086815","https://openalex.org/W2765302304","https://openalex.org/W2803308811","https://openalex.org/W2809695613","https://openalex.org/W2891629498","https://openalex.org/W2897007254","https://openalex.org/W2903709398","https://openalex.org/W2949207039","https://openalex.org/W2963625099","https://openalex.org/W2970857152","https://openalex.org/W2983617607","https://openalex.org/W2989958156","https://openalex.org/W3088218629","https://openalex.org/W3099089609","https://openalex.org/W3106180689","https://openalex.org/W3112288498","https://openalex.org/W3118172322","https://openalex.org/W3119924655","https://openalex.org/W3127561923","https://openalex.org/W3141426068","https://openalex.org/W3164838844","https://openalex.org/W3174428490","https://openalex.org/W3179660843","https://openalex.org/W3195422000","https://openalex.org/W3208617162","https://openalex.org/W3213512537","https://openalex.org/W4214496626","https://openalex.org/W4214717370","https://openalex.org/W4241644338","https://openalex.org/W4285272860","https://openalex.org/W4296231058","https://openalex.org/W4298876402","https://openalex.org/W4366957357","https://openalex.org/W4376457019","https://openalex.org/W6683300800","https://openalex.org/W6683517036","https://openalex.org/W6751629939","https://openalex.org/W6767112054","https://openalex.org/W6797659266","https://openalex.org/W6803059486"],"related_works":["https://openalex.org/W4316167276","https://openalex.org/W2002736235","https://openalex.org/W2232143283","https://openalex.org/W1647779468","https://openalex.org/W48101171","https://openalex.org/W2014298110","https://openalex.org/W2096554740","https://openalex.org/W2147389337","https://openalex.org/W2989754218","https://openalex.org/W3124407081"],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1],"(RL)":[2],"has":[3],"been":[4],"widely":[5],"used":[6],"in":[7,14,53,154,171,176],"the":[8,23,28,45,61,71,76,83,100,111,121,125,129,132,147,151,159,164,177],"decision-making":[9],"of":[10,30,37,102,135,156,179],"autonomous":[11],"vehicles":[12,113],"(AVs)":[13],"recent":[15],"studies.":[16],"However,":[17],"existing":[18],"RL":[19],"methods":[20,153],"generally":[21],"find":[22],"optimal":[24],"policy":[25],"by":[26,99],"maximizing":[27],"expectation":[29],"future":[31],"returns,":[32],"which":[33,108],"lacks":[34],"distributional":[35],"treatments":[36],"risky":[38],"situations.":[39],"Additionally,":[40,92],"various":[41],"uncertainties":[42],"arising":[43,127],"from":[44,128],"environment":[46],"could":[47],"also":[48,140,161],"cause":[49],"unreliable":[50],"decisions,":[51],"particularly":[52],"some":[54,172],"complex":[55],"urban":[56],"environments.":[57],"In":[58],"this":[59],"paper,":[60],"fully":[62],"parameterized":[63],"quantile":[64],"network":[65],"(FPQN)":[66],"is":[67,80,97],"utilized":[68,81],"to":[69,87,119],"estimate":[70],"full":[72],"return":[73,84],"distribution.":[74],"Then,":[75],"conditional":[77],"value-at-risk":[78],"(CVaR)":[79],"with":[82],"distribution":[85],"information":[86],"generate":[88],"uncertainty-aware":[89],"driving":[90,174],"behavior.":[91],"an":[93],"uncontrolled":[94],"four-way":[95],"intersection":[96],"developed":[98],"Simulation":[101],"Urban":[103],"Mobility":[104],"(SUMO)":[105],"simulation":[106],"platform,":[107],"considers":[109],"both":[110],"surrounding":[112,136],"(SVs)":[114],"and":[115,131],"pedestrians.":[116],"More":[117],"specifically,":[118],"simulate":[120],"real-world":[122],"traffic":[123,137],"environment,":[124],"uncertainty":[126,134],"occlusion,":[130],"behavior":[133],"participants":[138],"are":[139],"considered.":[141],"The":[142],"experiment":[143],"results":[144,160],"suggest":[145],"that":[146,163],"proposed":[148,165],"method":[149,166],"outperforms":[150],"baseline":[152],"terms":[155],"safety.":[157],"Furthermore,":[158],"indicate":[162],"can":[167],"make":[168],"reasonable":[169],"decisions":[170],"challenging":[173],"cases":[175],"presence":[178],"uncertainty.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
