{"id":"https://openalex.org/W4400188071","doi":"https://doi.org/10.1109/tits.2024.3419108","title":"A Harmonized Approach: Beyond-the-Limit Control for Autonomous Vehicles Balancing Performance and Safety in Unpredictable Environments","display_name":"A Harmonized Approach: Beyond-the-Limit Control for Autonomous Vehicles Balancing Performance and Safety in Unpredictable Environments","publication_year":2024,"publication_date":"2024-07-01","ids":{"openalex":"https://openalex.org/W4400188071","doi":"https://doi.org/10.1109/tits.2024.3419108"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3419108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3419108","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/A5068593680","display_name":"Shiyue Zhao","orcid":"https://orcid.org/0000-0001-6742-2767"},"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":"Shiyue Zhao","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6742-2767","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068780105","display_name":"Junzhi Zhang","orcid":"https://orcid.org/0000-0002-5055-2941"},"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":"Junzhi Zhang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5055-2941","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100545065","display_name":"Xiaoxia He","orcid":null},"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":"Xiaoxia He","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086123029","display_name":"Chengkun He","orcid":"https://orcid.org/0000-0003-3144-7166"},"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":"Chengkun He","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102936751","display_name":"Xiaohui Hou","orcid":"https://orcid.org/0000-0002-5673-2396"},"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":"Xiaohui Hou","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042865025","display_name":"Heye Huang","orcid":"https://orcid.org/0000-0002-8964-8764"},"institutions":[{"id":"https://openalex.org/I1290170979","display_name":"Wisconsin Department of Transportation","ror":"https://ror.org/02h7f3665","country_code":"US","type":"government","lineage":["https://openalex.org/I1290170979"]},{"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":"Heye Huang","raw_affiliation_strings":["Connected and Autonomous Transportation Systems Laboratory, University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0002-8964-8764","affiliations":[{"raw_affiliation_string":"Connected and Autonomous Transportation Systems Laboratory, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I1290170979","https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077952947","display_name":"Jinheng Han","orcid":"https://orcid.org/0000-0001-6380-4135"},"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":"Jinheng Han","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6380-4135","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6416,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.82596966,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"25","issue":"11","first_page":"15827","last_page":"15840"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9850999712944031,"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":0.9850999712944031,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9593999981880188,"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/vehicle-safety","display_name":"Vehicle safety","score":0.5545639991760254},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.506440281867981},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4689492881298065},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4522068202495575},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4511781930923462},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3962312936782837},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3647705018520355},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.32599207758903503},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.3251410722732544},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2937917709350586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13093209266662598},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08429047465324402}],"concepts":[{"id":"https://openalex.org/C2986542766","wikidata":"https://www.wikidata.org/wiki/Q2090494","display_name":"Vehicle safety","level":2,"score":0.5545639991760254},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.506440281867981},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4689492881298065},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4522068202495575},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4511781930923462},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3962312936782837},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3647705018520355},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.32599207758903503},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3251410722732544},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2937917709350586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13093209266662598},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08429047465324402},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3419108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3419108","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/7","score":0.4099999964237213,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2871786398","display_name":null,"funder_award_id":"2022YFB2503103","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1982641902","https://openalex.org/W2050086986","https://openalex.org/W2418627435","https://openalex.org/W2580909119","https://openalex.org/W2585477135","https://openalex.org/W2811282447","https://openalex.org/W2897554812","https://openalex.org/W2904246096","https://openalex.org/W2951357333","https://openalex.org/W2963411833","https://openalex.org/W2978455699","https://openalex.org/W2990929492","https://openalex.org/W2999762404","https://openalex.org/W3090027660","https://openalex.org/W3113070793","https://openalex.org/W3121045039","https://openalex.org/W3127561923","https://openalex.org/W3147335029","https://openalex.org/W3168526426","https://openalex.org/W3184813433","https://openalex.org/W4206171698","https://openalex.org/W4220721114","https://openalex.org/W4225814850","https://openalex.org/W4285108207","https://openalex.org/W4285228542","https://openalex.org/W4289262216","https://openalex.org/W4296838344","https://openalex.org/W4304480790","https://openalex.org/W4312550876","https://openalex.org/W4362650413","https://openalex.org/W4382404691","https://openalex.org/W4385267646","https://openalex.org/W4386141963","https://openalex.org/W6677916085","https://openalex.org/W6779656125","https://openalex.org/W6792120457","https://openalex.org/W6810450869"],"related_works":["https://openalex.org/W2353396818","https://openalex.org/W2370473919","https://openalex.org/W2762984199","https://openalex.org/W2152805146","https://openalex.org/W1497199146","https://openalex.org/W2994819277","https://openalex.org/W4396506299","https://openalex.org/W2004723857","https://openalex.org/W3143025831","https://openalex.org/W2040170473"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2,54],"an":[3,92,168],"adaptive":[4,122,151],"beyond-the-limit":[5,34],"controller,":[6],"aimed":[7],"at":[8],"striking":[9],"a":[10,55,65],"balance":[11],"between":[12,124],"high-performance":[13],"maneuvers,":[14],"such":[15],"as":[16],"transient":[17],"drift,":[18],"and":[19,50,74,126,141],"ensuring":[20],"safety":[21,49,94,127,163],"in":[22,48,79,113,164],"unpredictable":[23,165],"environments.":[24],"Our":[25,52],"work":[26],"is":[27,97],"motivated":[28],"by":[29],"the":[30,85,109,117,147],"necessity":[31],"for":[32,130],"autonomous":[33],"control":[35,57,68,95,119,132],"adaptable":[36],"to":[37,99],"real-world":[38],"uncertainties,":[39],"where":[40],"reinforcement":[41],"learning":[42,86],"(RL)":[43],"faces":[44],"simulation-to-reality":[45],"gap":[46],"challenges":[47],"performance.":[51,172],"approach":[53],"hybrid":[56,118,152],"mechanism":[58,120],"that":[59,157],"integrates":[60],"data-driven":[61],"performance":[62,89,125],"optimization":[63],"with":[64,167],"robust":[66],"safety-centric":[67],"policy.":[69],"By":[70],"leveraging":[71],"expert":[72],"demonstrations":[73],"employing":[75],"Jump-Start":[76],"RL":[77],"framework":[78],"Frenet":[80],"coordinates,":[81],"we":[82,145],"greatly":[83],"improve":[84],"efficiency":[87],"of":[88,111,149],"optimization.":[90],"Further,":[91],"integrated":[93,162],"policy":[96],"designed":[98],"mitigate":[100],"hazards":[101],"through":[102],"predictive":[103],"trajectory":[104],"planning,":[105],"thus":[106],"significantly":[107],"reducing":[108],"risk":[110],"accidents":[112],"unforeseen":[114],"situations.":[115],"Meanwhile,":[116],"employs":[121],"weighting":[123],"considerations,":[128],"allowing":[129],"fusion":[131],"based":[133],"on":[134,171],"real-time":[135],"environmental":[136],"assessments.":[137],"Through":[138],"simulation":[139],"experiments":[140],"initial":[142],"real-vehicle":[143],"testing,":[144],"validate":[146],"effectiveness":[148],"our":[150,158],"controller.":[153],"The":[154],"findings":[155],"confirm":[156],"controller":[159],"consistently":[160],"ensures":[161],"environments,":[166],"acceptable":[169],"impact":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
