{"id":"https://openalex.org/W4395028057","doi":"https://doi.org/10.1109/tits.2024.3386790","title":"Stackelberg Differential Lane Change Game Based on MPC and Inverse MPC","display_name":"Stackelberg Differential Lane Change Game Based on MPC and Inverse MPC","publication_year":2024,"publication_date":"2024-04-23","ids":{"openalex":"https://openalex.org/W4395028057","doi":"https://doi.org/10.1109/tits.2024.3386790"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3386790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3386790","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/A5100681544","display_name":"Qingyu Zhang","orcid":"https://orcid.org/0000-0002-6276-3391"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qingyu Zhang","raw_affiliation_strings":["Ford Motor Company, Dearborn, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-6276-3391","affiliations":[{"raw_affiliation_string":"Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017696249","display_name":"Reza Langari","orcid":"https://orcid.org/0000-0001-7900-5186"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reza Langari","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA"],"raw_orcid":"https://orcid.org/0000-0001-7900-5186","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002740588","display_name":"H. Eric Tseng","orcid":"https://orcid.org/0000-0001-5087-9592"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Eric Tseng","raw_affiliation_strings":["Ford Motor Company, Dearborn, MI, USA"],"raw_orcid":"https://orcid.org/0000-0001-5087-9592","affiliations":[{"raw_affiliation_string":"Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081141984","display_name":"Shankar Mohan","orcid":"https://orcid.org/0000-0002-6107-7672"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shankar Mohan","raw_affiliation_strings":["Ford Motor Company, Dearborn, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039753722","display_name":"Steven Szwabowski","orcid":null},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Szwabowski","raw_affiliation_strings":["Ford Motor Company, Dearborn, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015550681","display_name":"Dimitar Filev","orcid":"https://orcid.org/0000-0001-7127-6782"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dimitar Filev","raw_affiliation_strings":["Ford Motor Company, Dearborn, MI, USA"],"raw_orcid":"https://orcid.org/0000-0001-7127-6782","affiliations":[{"raw_affiliation_string":"Ford Motor Company, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.267,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87858089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"25","issue":"8","first_page":"8473","last_page":"8485"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9861000180244446,"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":0.9861000180244446,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9843999743461609,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9771000146865845,"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/stackelberg-competition","display_name":"Stackelberg competition","score":0.8934322595596313},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5260160565376282},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4987070560455322},{"id":"https://openalex.org/keywords/differential-game","display_name":"Differential game","score":0.4409612715244293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43036359548568726},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42756545543670654},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4126376509666443},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.30230823159217834},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.21570563316345215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19223245978355408},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19114774465560913},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.16633394360542297},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12244856357574463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10468244552612305},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06746724247932434}],"concepts":[{"id":"https://openalex.org/C199510392","wikidata":"https://www.wikidata.org/wiki/Q1184602","display_name":"Stackelberg competition","level":2,"score":0.8934322595596313},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5260160565376282},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4987070560455322},{"id":"https://openalex.org/C2779006483","wikidata":"https://www.wikidata.org/wiki/Q1973196","display_name":"Differential game","level":2,"score":0.4409612715244293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43036359548568726},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42756545543670654},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4126376509666443},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30230823159217834},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.21570563316345215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19223245978355408},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19114774465560913},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.16633394360542297},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12244856357574463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10468244552612305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06746724247932434},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3386790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3386790","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":[],"awards":[{"id":"https://openalex.org/G8196602135","display_name":null,"funder_award_id":"URP 2016-8009R","funder_id":"https://openalex.org/F4320307103","funder_display_name":"Ford Motor Company"}],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W165896801","https://openalex.org/W1559171183","https://openalex.org/W1581842928","https://openalex.org/W1833552892","https://openalex.org/W1965455100","https://openalex.org/W1967959588","https://openalex.org/W1973143498","https://openalex.org/W1993042183","https://openalex.org/W1999874108","https://openalex.org/W2001808786","https://openalex.org/W2007103412","https://openalex.org/W2011507340","https://openalex.org/W2040158468","https://openalex.org/W2046542460","https://openalex.org/W2138865117","https://openalex.org/W2152374007","https://openalex.org/W2158930753","https://openalex.org/W2262743940","https://openalex.org/W2319980766","https://openalex.org/W2411577903","https://openalex.org/W2482087498","https://openalex.org/W2504467459","https://openalex.org/W2727450595","https://openalex.org/W2736563494","https://openalex.org/W2809915257","https://openalex.org/W2885592855","https://openalex.org/W2914474362","https://openalex.org/W2954188739","https://openalex.org/W2962963881","https://openalex.org/W2963898834","https://openalex.org/W2972387988","https://openalex.org/W2991553555","https://openalex.org/W3005048145","https://openalex.org/W3005960992","https://openalex.org/W3012569735","https://openalex.org/W3012609991","https://openalex.org/W3035045431","https://openalex.org/W3045997105","https://openalex.org/W3089317590","https://openalex.org/W3115626996","https://openalex.org/W3125172959","https://openalex.org/W4293584745","https://openalex.org/W6674884181","https://openalex.org/W6679958247","https://openalex.org/W6740747201","https://openalex.org/W6767571100","https://openalex.org/W6775345229","https://openalex.org/W6775507380","https://openalex.org/W6783692229"],"related_works":["https://openalex.org/W1988922213","https://openalex.org/W2091923150","https://openalex.org/W2364446825","https://openalex.org/W1564190868","https://openalex.org/W2022702275","https://openalex.org/W3041410939","https://openalex.org/W3122364233","https://openalex.org/W1983902399","https://openalex.org/W4256290860","https://openalex.org/W2030449225"],"abstract_inverted_index":{"A":[0],"Stackelberg":[1,24],"differential":[2,25,44],"game":[3,45],"theoretic":[4],"model":[5,34],"predictive":[6,35],"controller":[7,36],"is":[8,21,46,54,67],"proposed":[9],"for":[10],"an":[11,63],"autonomous":[12,89],"highway":[13],"driving":[14],"problem.":[15],"The":[16,43,82],"hierarchical":[17],"controller\u2019s":[18],"high-level":[19],"component":[20],"the":[22,57,71,74,79,88,101],"two-player":[23],"lane":[26,96,117],"change":[27,118],"game,":[28],"where":[29],"each":[30],"player":[31],"uses":[32],"a":[33,49],"(MPC)":[37],"to":[38,69],"control":[39],"his/her":[40],"own":[41],"motion.":[42],"converted":[47],"into":[48],"bi-level":[50],"optimization":[51],"problem":[52],"and":[53,59,93,111],"solved":[55],"with":[56],"branch":[58],"bound":[60],"algorithm.":[61],"Additionally,":[62],"inverse":[64,102],"MPC":[65,75,85],"algorithm":[66],"developed":[68],"estimate":[70],"weights":[72],"of":[73,78,108],"cost":[76],"function":[77],"target":[80,109],"vehicle.":[81],"low-level":[83],"hybrid":[84],"controls":[86],"both":[87,100],"vehicle\u2019s":[90],"longitudinal":[91],"motion":[92],"its":[94],"real-time":[95],"determination.":[97],"Simulations":[98],"indicate":[99],"MPC\u2019s":[103],"capability":[104],"on":[105],"aggressiveness":[106],"estimation":[107],"vehicles":[110],"DGTMPC\u2019s":[112],"superior":[113],"performance":[114],"in":[115],"interactive":[116],"situations.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}