{"id":"https://openalex.org/W4406856902","doi":"https://doi.org/10.1109/tits.2025.3529838","title":"Enhancing Autonomous Driving Decision: A Hybrid Deep Reinforcement Learning-Kinematic-Based Autopilot Framework for Complex Motorway Scenes","display_name":"Enhancing Autonomous Driving Decision: A Hybrid Deep Reinforcement Learning-Kinematic-Based Autopilot Framework for Complex Motorway Scenes","publication_year":2025,"publication_date":"2025-01-27","ids":{"openalex":"https://openalex.org/W4406856902","doi":"https://doi.org/10.1109/tits.2025.3529838"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3529838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3529838","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/A5064414649","display_name":"Yongqiang Lu","orcid":"https://orcid.org/0000-0001-6812-3216"},"institutions":[{"id":"https://openalex.org/I63072094","display_name":"University of Portsmouth","ror":"https://ror.org/03ykbk197","country_code":"GB","type":"education","lineage":["https://openalex.org/I63072094"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yongqiang Lu","raw_affiliation_strings":["School of Electrical and Mechanical Engineering, University of Portsmouth, Portsmouth, U.K"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Mechanical Engineering, University of Portsmouth, Portsmouth, U.K","institution_ids":["https://openalex.org/I63072094"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014508923","display_name":"Hongjie Ma","orcid":"https://orcid.org/0000-0001-8507-3636"},"institutions":[{"id":"https://openalex.org/I63072094","display_name":"University of Portsmouth","ror":"https://ror.org/03ykbk197","country_code":"GB","type":"education","lineage":["https://openalex.org/I63072094"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongjie Ma","raw_affiliation_strings":["School of Electrical and Mechanical Engineering, University of Portsmouth, Portsmouth, U.K"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Mechanical Engineering, University of Portsmouth, Portsmouth, U.K","institution_ids":["https://openalex.org/I63072094"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071103443","display_name":"Edward Smart","orcid":"https://orcid.org/0000-0003-4089-7476"},"institutions":[{"id":"https://openalex.org/I63072094","display_name":"University of Portsmouth","ror":"https://ror.org/03ykbk197","country_code":"GB","type":"education","lineage":["https://openalex.org/I63072094"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Edward Smart","raw_affiliation_strings":["School of Electrical and Mechanical Engineering, University of Portsmouth, Portsmouth, U.K"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Mechanical Engineering, University of Portsmouth, Portsmouth, U.K","institution_ids":["https://openalex.org/I63072094"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006580423","display_name":"Hui Yu","orcid":"https://orcid.org/0000-0002-7655-9228"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hui Yu","raw_affiliation_strings":["SCAN Centre, University of Glasgow, Glasgow, U.K"],"affiliations":[{"raw_affiliation_string":"SCAN Centre, University of Glasgow, Glasgow, U.K","institution_ids":["https://openalex.org/I7882870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064414649"],"corresponding_institution_ids":["https://openalex.org/I63072094"],"apc_list":null,"apc_paid":null,"fwci":20.1899,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.99020564,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"26","issue":"3","first_page":"3198","last_page":"3209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9743000268936157,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9743000268936157,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9675999879837036,"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/autopilot","display_name":"Autopilot","score":0.9020134210586548},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7660684585571289},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7252495288848877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49848055839538574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46669772267341614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43400442600250244},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42603635787963867},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37508708238601685},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.36969590187072754},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33511388301849365},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09055474400520325},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08738154172897339}],"concepts":[{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.9020134210586548},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7660684585571289},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7252495288848877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49848055839538574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46669772267341614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43400442600250244},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42603635787963867},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37508708238601685},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.36969590187072754},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33511388301849365},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09055474400520325},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08738154172897339},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3529838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3529838","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1503153898","https://openalex.org/W1974883306","https://openalex.org/W2032924574","https://openalex.org/W2061708029","https://openalex.org/W2107726111","https://openalex.org/W2129659607","https://openalex.org/W2129660761","https://openalex.org/W2145339207","https://openalex.org/W2588289902","https://openalex.org/W2609400252","https://openalex.org/W2736601468","https://openalex.org/W2758107681","https://openalex.org/W2809404773","https://openalex.org/W2963679616","https://openalex.org/W2964313902","https://openalex.org/W2970787054","https://openalex.org/W2989958156","https://openalex.org/W3000193750","https://openalex.org/W3004384589","https://openalex.org/W3010475463","https://openalex.org/W3016931720","https://openalex.org/W3047056580","https://openalex.org/W3086911381","https://openalex.org/W3092297010","https://openalex.org/W3124225140","https://openalex.org/W3141426068","https://openalex.org/W3161049446","https://openalex.org/W3194149012","https://openalex.org/W3203418317","https://openalex.org/W3211302749","https://openalex.org/W4312059601","https://openalex.org/W6605452201","https://openalex.org/W6632870548","https://openalex.org/W6692963853","https://openalex.org/W6753596642","https://openalex.org/W6756879699","https://openalex.org/W6784178060","https://openalex.org/W6802142037"],"related_works":["https://openalex.org/W2528333064","https://openalex.org/W2357122534","https://openalex.org/W2159456118","https://openalex.org/W2148668825","https://openalex.org/W4287557383","https://openalex.org/W2268481623","https://openalex.org/W2169677720","https://openalex.org/W2350405024","https://openalex.org/W2366123023","https://openalex.org/W2090743753"],"abstract_inverted_index":{"Autonomous":[0],"vehicles":[1],"(AVs)":[2],"still":[3],"pose":[4],"challenges":[5],"in":[6,12,26,65,127,160],"improving":[7],"intelligence,":[8,165],"safety,":[9,166],"and":[10,51,56,91,110,115,121,131,167],"reliability":[11],"complex":[13,145],"motorway":[14,97,146],"scenarios.":[15,147],"Recently,":[16],"deep":[17],"reinforcement":[18],"learning":[19],"(DRL)":[20],"has":[21],"demonstrated":[22],"superior":[23],"decision-making":[24,113],"capabilities":[25],"dynamic":[27],"environments":[28],"compared":[29],"to":[30,40,53,86,106,135],"rule-based":[31,118],"methods.":[32],"However,":[33],"it":[34],"requires":[35],"considerable":[36],"training":[37,108,163],"resources":[38],"due":[39],"a":[41,74,88,100,117],"lack":[42],"of":[43,162],"innovative":[44],"DRL":[45,83,133,158],"component":[46],"design":[47],"(e.g.,":[48],"state":[49],"space":[50],"reward)":[52],"link":[54],"observation":[55],"action":[57,125],"accurately.":[58],"Its":[59],"opaque":[60],"nature":[61],"may":[62],"also":[63],"result":[64],"hazardous":[66],"driving":[67,93],"conditions.":[68],"In":[69],"this":[70],"paper,":[71],"we":[72],"introduce":[73],"hybrid":[75],"autopilot":[76],"framework":[77,154],"that":[78,151],"amalgamates":[79],"three":[80],"modules:":[81],"(i)":[82],"is":[84,104],"employed":[85],"build":[87],"smart,":[89],"learnable,":[90],"scalable":[92],"policy":[94,134,159],"across":[95],"various":[96],"scenarios;":[98],"(ii)":[99],"kinematic-based":[101],"co-pilot":[102],"strategy":[103],"devised":[105],"bolster":[107],"efficiency":[109],"provide":[111],"flexible":[112],"guidance;":[114],"(iii)":[116],"system":[119],"assesses":[120],"determines":[122],"the":[123,132,152,156],"final":[124],"outputs":[126],"real-time":[128],"between":[129],"itself":[130],"further":[136],"enhance":[137],"safety.":[138],"Extensive":[139],"simulations":[140],"are":[141],"conducted":[142],"under":[143],"different":[144],"The":[148],"results":[149],"indicate":[150],"proposed":[153],"surpasses":[155],"baseline":[157],"terms":[161],"efficiency,":[164],"reliability.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":7}],"updated_date":"2026-02-24T19:35:01.260952","created_date":"2025-10-10T00:00:00"}