{"id":"https://openalex.org/W4412722311","doi":"https://doi.org/10.1109/tits.2025.3586917","title":"A Dual-Layer Mixture of Expert Model-Based Human-Like Strategy for Autonomous Driving Velocity Control","display_name":"A Dual-Layer Mixture of Expert Model-Based Human-Like Strategy for Autonomous Driving Velocity Control","publication_year":2025,"publication_date":"2025-07-28","ids":{"openalex":"https://openalex.org/W4412722311","doi":"https://doi.org/10.1109/tits.2025.3586917"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3586917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3586917","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/A5103091716","display_name":"Liu Yang","orcid":"https://orcid.org/0000-0002-7587-9473"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Yang","raw_affiliation_strings":["School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-7587-9473","affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109867329","display_name":"Chengdeng Cao","orcid":"https://orcid.org/0009-0004-1082-3323"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengdeng Cao","raw_affiliation_strings":["School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0004-1082-3323","affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007311304","display_name":"Qianxi Zhao","orcid":"https://orcid.org/0000-0002-8247-0713"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianxi Zhao","raw_affiliation_strings":["School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-8247-0713","affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042708455","display_name":"Siyan Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyan Wu","raw_affiliation_strings":["School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0003-5381-2993","affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045754045","display_name":"Ailong Fan","orcid":"https://orcid.org/0000-0001-6296-9819"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ailong Fan","raw_affiliation_strings":["School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6296-9819","affiliations":[{"raw_affiliation_string":"School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9969,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76732399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"26","issue":"11","first_page":"20628","last_page":"20641"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9721999764442444,"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":0.9721999764442444,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9093000292778015,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9018999934196472,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/dual","display_name":"Dual (grammatical number)","score":0.6830011010169983},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.6035786271095276},{"id":"https://openalex.org/keywords/dual-layer","display_name":"Dual layer","score":0.49184703826904297},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4536170959472656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4248808026313782},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42389070987701416},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3845658600330353},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3440393805503845},{"id":"https://openalex.org/keywords/biological-system","display_name":"Biological system","score":0.3376384973526001},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3304921090602875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32862621545791626},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.30683180689811707},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.2098473608493805},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12053391337394714}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6830011010169983},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.6035786271095276},{"id":"https://openalex.org/C2993148961","wikidata":"https://www.wikidata.org/wiki/Q5294","display_name":"Dual layer","level":3,"score":0.49184703826904297},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4536170959472656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4248808026313782},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42389070987701416},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3845658600330353},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3440393805503845},{"id":"https://openalex.org/C186060115","wikidata":"https://www.wikidata.org/wiki/Q30336093","display_name":"Biological system","level":1,"score":0.3376384973526001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3304921090602875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32862621545791626},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.30683180689811707},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.2098473608493805},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12053391337394714},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3586917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3586917","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/G1404286288","display_name":null,"funder_award_id":"2025A151501012","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G5541971841","display_name":null,"funder_award_id":"YNZC2024-G3-04393-YNZZ-0391","funder_id":"https://openalex.org/F4320335795","funder_display_name":"Science and Technology Planning Project of Guangdong Province"},{"id":"https://openalex.org/G6448554045","display_name":null,"funder_award_id":"2024040801020268","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"}],"funders":[{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null},{"id":"https://openalex.org/F4320335795","display_name":"Science and Technology Planning Project of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2891526102","https://openalex.org/W2896642734","https://openalex.org/W2912445127","https://openalex.org/W2948741662","https://openalex.org/W2970065535","https://openalex.org/W2989958156","https://openalex.org/W2997627703","https://openalex.org/W3012371209","https://openalex.org/W3105200428","https://openalex.org/W3127647470","https://openalex.org/W3147346172","https://openalex.org/W3211345831","https://openalex.org/W4211076387","https://openalex.org/W4220902452","https://openalex.org/W4225773298","https://openalex.org/W4288064502","https://openalex.org/W4308080966","https://openalex.org/W4312835009","https://openalex.org/W4312876648","https://openalex.org/W4313478129","https://openalex.org/W4318541446","https://openalex.org/W4368362661","https://openalex.org/W4381198920","https://openalex.org/W4386143164","https://openalex.org/W4386698295","https://openalex.org/W4387644013","https://openalex.org/W4388579628","https://openalex.org/W4388642355","https://openalex.org/W4390492434","https://openalex.org/W4396599460","https://openalex.org/W4396766647","https://openalex.org/W4398194910","https://openalex.org/W4400726936","https://openalex.org/W4400944508","https://openalex.org/W4406856902"],"related_works":["https://openalex.org/W4248311811","https://openalex.org/W2085515114","https://openalex.org/W2317351040","https://openalex.org/W2001530868","https://openalex.org/W2066174985","https://openalex.org/W2329901306","https://openalex.org/W4410395214","https://openalex.org/W3026417777","https://openalex.org/W4403794707","https://openalex.org/W2221506820"],"abstract_inverted_index":{"In":[0],"the":[1,47,50,56,84,91,104,108,116,119,126,147,160,166,173,188,197,202],"context":[2],"of":[3,49,58,72,118,149,165,185,214],"mixed":[4,143,174],"traffic":[5,144,175],"flow,":[6],"it":[7,53,112],"is":[8,35],"importance":[9],"to":[10,37,89,97,102,125,139,212],"autonomous":[11,254],"vehicles":[12],"(AVs)":[13],"that":[14,179,201,230],"exhibit":[15],"human-like":[16,218,251],"and":[17,78,107,121,157,207,240,248,252],"safe":[18,253],"driving":[19],"strategies.":[20],"Models":[21],"based":[22,75],"on":[23,76],"deep":[24],"reinforcement":[25],"learning":[26,57,167],"(DRL)":[27],"have":[28],"strong":[29],"generalization":[30,246],"abilities,":[31],"but":[32,52],"their":[33],"security":[34,48],"difficult":[36],"guarantee.":[38],"Jointly":[39],"modeling":[40],"DRL":[41,77,86,96],"with":[42,142],"rule-based":[43,105],"models":[44,123],"can":[45,232],"improve":[46],"model,":[51,110],"may":[54],"hinder":[55],"an":[59,99],"optimal":[60,92],"strategy.":[61,93],"To":[62],"address":[63],"this":[64,66],"challenge,":[65],"paper":[67],"proposes":[68],"a":[69,182],"dual-layer":[70],"mixture":[71],"expert":[73],"model":[74,80,87,106],"rule":[79],"(2L-DU-MOE).":[81],"First,":[82],"use":[83,95],"upper":[85,109,120],"alone":[88],"explore":[90],"Then,":[94,146],"establish":[98],"activation":[100],"layer":[101],"connect":[103],"making":[111],"adaptively":[113],"arbitrate":[114],"between":[115],"strategies":[117],"lower":[122],"according":[124],"current":[127],"environment.":[128],"The":[129,169,220],"real":[130],"trajectories":[131],"are":[132,152,210],"extracted":[133,153],"from":[134,154],"trajectory":[135,155],"dataset":[136],"in":[137,172,223],"order":[138],"construct":[140],"scenarios":[141,177,224],"flow.":[145],"features":[148],"human":[150,215],"drivers":[151],"data":[156],"integrated":[158],"into":[159],"reward":[161],"function":[162],"as":[163],"one":[164],"objectives.":[168],"test":[170,198,221],"results":[171,199,222],"flow":[176],"show":[178,200],"2L-DU-MOE":[180,243],"achieved":[181],"success":[183,192],"rate":[184,193],"96.04%,":[186],"surpassing":[187],"highest":[189],"baseline":[190],"model\u2019s":[191,204],"by":[194,237],"11.63%.":[195],"Meanwhile,":[196],"proposed":[203],"acceleration,":[205],"velocity,":[206],"TTC":[208],"characteristics":[209],"similar":[211],"those":[213],"drivers,":[216],"exhibiting":[217],"characteristics.":[219],"involving":[225],"static":[226],"obstacles":[227,236],"avoidance":[228],"demonstrate":[229],"AV":[231],"effectively":[233],"navigate":[234],"around":[235],"adjusting":[238],"velocity":[239],"yaw":[241],"angle.":[242],"exhibits":[244],"remarkable":[245],"capability":[247],"robustness,":[249],"enabling":[250],"driving.":[255]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
