{"id":"https://openalex.org/W4409795819","doi":"https://doi.org/10.1109/tits.2025.3562122","title":"Perceptual Uncertainty-Aware Motion Planning for Autonomous Driving Based on Adaptive Heuristic Reinforcement Learning","display_name":"Perceptual Uncertainty-Aware Motion Planning for Autonomous Driving Based on Adaptive Heuristic Reinforcement Learning","publication_year":2025,"publication_date":"2025-04-25","ids":{"openalex":"https://openalex.org/W4409795819","doi":"https://doi.org/10.1109/tits.2025.3562122"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3562122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3562122","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/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":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5379-1561","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Baiyu Du","orcid":"https://orcid.org/0009-0009-9553-2002"},"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":"Baiyu Du","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0009-9553-2002","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110181294","display_name":"Zhidong Wang","orcid":"https://orcid.org/0009-0009-1487-4212"},"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":"Zhidong Wang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0009-1487-4212","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049454999","display_name":"Qichao Zhang","orcid":"https://orcid.org/0000-0001-9747-391X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9747-391X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]},{"raw_affiliation_string":"Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029387407","display_name":"Ronghui Zhang","orcid":"https://orcid.org/0000-0001-6107-4044"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ronghui Zhang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Intelligent Transport System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China","School of Intelligent Systems Engineering, Guangdong Provincial Key Laboratory of Intelligent Transport System, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6107-4044","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Transport System, School of Intelligent Systems Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Intelligent Systems Engineering, Guangdong Provincial Key Laboratory of Intelligent Transport System, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007825395","display_name":"Hongbo Gao","orcid":"https://orcid.org/0000-0002-5271-1280"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Gao","raw_affiliation_strings":["Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-5271-1280","affiliations":[{"raw_affiliation_string":"Department of Automation, School of Information Science and Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6189,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61547581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"26","issue":"8","first_page":"12676","last_page":"12687"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9667999744415283,"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":0.9667999744415283,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9047999978065491,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8710188865661621},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6876758337020874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6162574291229248},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6106135845184326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5929681658744812},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5748260021209717},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47888678312301636},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32672691345214844},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3214874565601349},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.16352424025535583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13129696249961853}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8710188865661621},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6876758337020874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6162574291229248},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6106135845184326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5929681658744812},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5748260021209717},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47888678312301636},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32672691345214844},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3214874565601349},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.16352424025535583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13129696249961853},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3562122","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3562122","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/G4136414202","display_name":null,"funder_award_id":"2021zc04","funder_id":"https://openalex.org/F4320338467","funder_display_name":"Major Scientific and Technological Project of Zhejiang Province"},{"id":"https://openalex.org/G8893282247","display_name":null,"funder_award_id":"24Z990200855","funder_id":"https://openalex.org/F4320333688","funder_display_name":"National Outstanding Youth Science Fund Project of National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320333688","display_name":"National Outstanding Youth Science Fund Project of National Natural Science Foundation of China","ror":null},{"id":"https://openalex.org/F4320338467","display_name":"Major Scientific and Technological Project of Zhejiang Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1965455100","https://openalex.org/W1969472392","https://openalex.org/W1980399291","https://openalex.org/W2564578354","https://openalex.org/W2790614647","https://openalex.org/W2963625099","https://openalex.org/W2968628392","https://openalex.org/W2971295974","https://openalex.org/W2973183361","https://openalex.org/W3012066402","https://openalex.org/W3045974612","https://openalex.org/W3092208345","https://openalex.org/W3100789280","https://openalex.org/W3122485556","https://openalex.org/W3128479020","https://openalex.org/W3133037842","https://openalex.org/W3133476022","https://openalex.org/W3136325136","https://openalex.org/W3163081386","https://openalex.org/W3164838844","https://openalex.org/W3187686704","https://openalex.org/W3198919602","https://openalex.org/W3203124669","https://openalex.org/W3203198074","https://openalex.org/W3208617162","https://openalex.org/W3209253128","https://openalex.org/W4214496626","https://openalex.org/W4226381010","https://openalex.org/W4282834067","https://openalex.org/W4285041537","https://openalex.org/W4311209065","https://openalex.org/W4312270460","https://openalex.org/W4381198920","https://openalex.org/W4383891636","https://openalex.org/W4385071241","https://openalex.org/W4386124310","https://openalex.org/W4387121506","https://openalex.org/W4387717526","https://openalex.org/W4388922867","https://openalex.org/W4390945665","https://openalex.org/W4392261014","https://openalex.org/W4395069493","https://openalex.org/W4399014819","https://openalex.org/W4400727489","https://openalex.org/W4406736092","https://openalex.org/W6797434948","https://openalex.org/W6838751740"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,103],"has":[2],"become":[3],"an":[4,41],"inevitable":[5],"trend":[6],"in":[7,16,101,141,164,209],"automotive":[8],"development.":[9],"Reinforcement":[10,44],"Learning":[11,45],"(RL)":[12],"is":[13,48,122,182],"extensively":[14],"used":[15,156],"autonomous":[17,136],"vehicle":[18,137],"motion":[19],"planning,":[20],"demonstrating":[21],"good":[22],"generalization":[23],"but":[24],"facing":[25],"challenges":[26],"of":[27,33,35,109,160],"long":[28],"training":[29,204],"times":[30],"and":[31,93,113,127,138,189,206],"lack":[32],"consideration":[34],"uncertainty.":[36],"To":[37],"address":[38,125],"these":[39],"challenges,":[40],"Adaptive":[42,66],"Heuristic":[43,67],"(AHRL)":[46],"approach":[47],"proposed.":[49],"First,":[50],"this":[51],"study":[52],"improves":[53],"upon":[54],"the":[55,65,85,99,107,135,166,197],"Dueling":[56,68],"Double":[57,69],"Deep":[58,70],"Q":[59,71],"Network":[60,72,154],"(D3QN)":[61],"algorithm":[62,200],"by":[63,217],"proposing":[64],"(Adapt-HD3QN)":[73],"algorithm.":[74],"Specifically,":[75],"heuristic":[76,91],"functions":[77],"from":[78],"search-based":[79],"planning":[80],"algorithms":[81],"are":[82,144],"incorporated":[83],"into":[84],"RL":[86],"reward":[87],"terms":[88],"to":[89,124],"guide":[90],"learning":[92,95],"enhance":[94],"efficiency.":[96],"Additionally,":[97],"considering":[98],"uncertainties":[100,215],"real-world":[102],"environments,":[104],"such":[105],"as":[106,146],"movement":[108],"other":[110,139,190],"traffic":[111,191,207],"participants":[112],"building":[114],"occlusions,":[115],"a":[116,147,151,173,177],"Mixed":[117],"Artificial":[118],"Potential":[119],"Field":[120],"(Mix-APF)":[121],"implemented":[123],"static":[126,187],"dynamic":[128],"obstacle":[129],"avoidance.":[130],"Furthermore,":[131],"potential":[132,161,167],"collisions":[133],"between":[134],"vehicles":[140],"occluded":[142],"areas":[143],"modeled":[145],"zero-sum":[148],"game,":[149],"with":[150,211],"Dynamic":[152],"Bayesian":[153],"(DBN)":[155],"for":[157],"prior":[158],"modeling":[159],"vehicles,":[162],"aiding":[163],"constructing":[165],"vehicle\u2019s":[168],"forward":[169],"hidden":[170],"set.":[171],"Finally,":[172],"signal-free":[174],"intersection":[175],"scenario,":[176],"typical":[178],"crash-prone":[179],"road":[180,212],"type,":[181],"constructed":[183],"on":[184],"CARLA,":[185],"incorporating":[186],"obstacles":[188],"participants.":[192],"Experimental":[193],"results":[194],"demonstrate":[195],"that":[196],"proposed":[198],"Adapt-HD3QN":[199],"exhibits":[201],"superior":[202],"safety,":[203],"efficiency,":[205],"efficiency":[208],"scenarios":[210],"environment":[213],"perception":[214],"caused":[216],"occlusion.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}