{"id":"https://openalex.org/W4409473736","doi":"https://doi.org/10.1109/tits.2025.3556596","title":"Human\u2013Machine Shared Control for Steer-by-Wire Vehicles Using Improved Reinforcement Learning-Based MPC","display_name":"Human\u2013Machine Shared Control for Steer-by-Wire Vehicles Using Improved Reinforcement Learning-Based MPC","publication_year":2025,"publication_date":"2025-04-15","ids":{"openalex":"https://openalex.org/W4409473736","doi":"https://doi.org/10.1109/tits.2025.3556596"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3556596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3556596","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/A5100399349","display_name":"Han Zhang","orcid":"https://orcid.org/0009-0004-6144-9044"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Zhang","raw_affiliation_strings":["Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100350519","display_name":"Yuhan Liu","orcid":"https://orcid.org/0000-0001-5391-0217"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhan Liu","raw_affiliation_strings":["Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031097117","display_name":"Wanzhong Zhao","orcid":"https://orcid.org/0009-0008-8651-6011"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanzhong Zhao","raw_affiliation_strings":["Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0008-8651-6011","affiliations":[{"raw_affiliation_string":"Department of Vehicle Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100609886","display_name":"Chuan Hu","orcid":"https://orcid.org/0000-0001-5379-1561"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuan Hu","raw_affiliation_strings":["Intelligent Vehicle Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","School of Mechanical Engineering, Intelligent Vehicle Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5379-1561","affiliations":[{"raw_affiliation_string":"Intelligent Vehicle Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Intelligent Vehicle Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067632391","display_name":"Jing Zhao","orcid":"https://orcid.org/0000-0002-6912-9019"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Jing Zhao","raw_affiliation_strings":["Department of Electromechanical Engineering, Automotive Engineering Laboratory, University of Macau, Macau, China"],"raw_orcid":"https://orcid.org/0000-0002-6912-9019","affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Automotive Engineering Laboratory, University of Macau, Macau, China","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8385,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.90555973,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"26","issue":"8","first_page":"12688","last_page":"12700"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9606000185012817,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9606000185012817,"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":0.9099000096321106,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7520513534545898},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.513361394405365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4633297324180603},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.458842396736145},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.45317015051841736},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44489070773124695},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.41468843817710876},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3871871829032898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3463197350502014},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34352409839630127},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11616083979606628}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7520513534545898},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.513361394405365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4633297324180603},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.458842396736145},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.45317015051841736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44489070773124695},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.41468843817710876},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3871871829032898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3463197350502014},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34352409839630127},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11616083979606628}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3556596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3556596","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/G3963797569","display_name":null,"funder_award_id":"52072175","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4886128488","display_name":null,"funder_award_id":"xcxjh20240206","funder_id":"https://openalex.org/F4320334859","funder_display_name":"Foundation of the Graduate Innovation Center, Nanjing University of Aeronautics and Astronautics"},{"id":"https://openalex.org/G6006489578","display_name":null,"funder_award_id":"BK20242041","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G7012305240","display_name":null,"funder_award_id":"52102435","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"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334859","display_name":"Foundation of the Graduate Innovation Center, Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2162489854","https://openalex.org/W2210692376","https://openalex.org/W2214731807","https://openalex.org/W2323233172","https://openalex.org/W2394808270","https://openalex.org/W2525337062","https://openalex.org/W2566124080","https://openalex.org/W2619842829","https://openalex.org/W2883548364","https://openalex.org/W2891701086","https://openalex.org/W2913416895","https://openalex.org/W2944475729","https://openalex.org/W3012213494","https://openalex.org/W3108013445","https://openalex.org/W3115050275","https://openalex.org/W3123320451","https://openalex.org/W3193478200","https://openalex.org/W3204523122","https://openalex.org/W4211215199","https://openalex.org/W4225553046","https://openalex.org/W4226453553","https://openalex.org/W4285263682","https://openalex.org/W4289824409","https://openalex.org/W4293795225","https://openalex.org/W4294325596","https://openalex.org/W4310904518","https://openalex.org/W4317497218","https://openalex.org/W4327663538","https://openalex.org/W4377142595","https://openalex.org/W4378216360","https://openalex.org/W4390371799","https://openalex.org/W4391620785","https://openalex.org/W4401386905","https://openalex.org/W4401634210"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"To":[0],"enhance":[1],"the":[2,84,120,128,135,141,152,156,165,172,179,191,198],"trajectory":[3],"tracking":[4,88,154,173],"capability":[5],"of":[6,122,144,164],"steer-by-wire":[7],"(SBW)":[8],"vehicles":[9,92],"while":[10],"reducing":[11],"driver\u2019s":[12],"workload,":[13],"a":[14,43],"human-machine":[15],"shared":[16],"control":[17,26,73,89,130],"(HMSC)":[18],"strategy":[19,48,131],"using":[20],"improved":[21,58,77],"reinforcement":[22],"learning-based":[23],"model":[24],"predictive":[25],"(RL-MPC)":[27],"is":[28,53,80,138,175],"proposed.":[29],"In":[30],"this":[31],"paper,":[32],"two":[33],"main":[34],"contributions":[35],"have":[36],"been":[37],"made:":[38],"1)":[39],"for":[40,71,90],"driver":[41,192],"loop,":[42,75],"variable":[44],"steering":[45,87,180,199],"ratio":[46],"(VSR)":[47],"applied":[49],"to":[50,82,106,118],"SBW":[51],"system":[52,74],"designed":[54],"based":[55],"on":[56],"an":[57,76],"fuzzy":[59],"controller,":[60],"whose":[61],"parameters":[62],"are":[63,103,167,185],"optimized":[64],"through":[65],"simulated":[66],"annealing":[67],"(SA)":[68],"algorithm;":[69],"2)":[70],"intelligent":[72],"RL-MPC":[78],"method":[79],"proposed":[81],"realize":[83],"high":[85],"precision":[86],"autonomous":[91],"(AVs),":[93],"in":[94,151],"which":[95,188],"MPC":[96],"and":[97,112,125,160,183],"deep":[98],"deterministic":[99],"policy":[100],"gradient":[101],"(DDPG)":[102],"deeply":[104],"integrated":[105],"combine":[107],"their":[108],"short-term":[109],"optimization":[110],"ability":[111],"long-term":[113],"value":[114],"estimation":[115],"capability.":[116],"Moreover,":[117],"shorten":[119],"time":[121],"overall":[123],"training":[124,143],"ensure":[126],"that":[127,150,171,190],"optimal":[129],"can":[132],"be":[133],"explored,":[134],"DDPG":[136],"agent":[137],"pretrained":[139],"before":[140],"parallel":[142],"RL-MPC.":[145],"CarSim-MATLAB/Simulink":[146],"co-simulation":[147],"results":[148],"show":[149],"whole":[153],"process,":[155],"lateral":[157],"position":[158],"error":[159,163],"yaw":[161],"angle":[162,182],"vehicle":[166],"significantly":[168],"reduced,":[169,187],"indicating":[170],"accuracy":[174],"greatly":[176],"improved.":[177],"Meanwhile,":[178],"wheel":[181],"speed":[184],"also":[186],"means":[189],"will":[193],"spend":[194],"less":[195],"energy":[196],"during":[197],"process.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":4}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}
