{"id":"https://openalex.org/W4413157298","doi":"https://doi.org/10.1109/tits.2025.3591906","title":"Multi-Kernel Enhanced Receding-Horizon Reinforcement Learning for Steering Control of Intelligent Vehicles","display_name":"Multi-Kernel Enhanced Receding-Horizon Reinforcement Learning for Steering Control of Intelligent Vehicles","publication_year":2025,"publication_date":"2025-08-12","ids":{"openalex":"https://openalex.org/W4413157298","doi":"https://doi.org/10.1109/tits.2025.3591906"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3591906","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3591906","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/A5101786094","display_name":"Changxin Zhang","orcid":"https://orcid.org/0000-0001-8829-1049"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Changxin Zhang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101668802","display_name":"Xinglong Zhang","orcid":"https://orcid.org/0000-0002-0587-2487"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinglong Zhang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050614837","display_name":"Jiahang Liu","orcid":"https://orcid.org/0009-0002-3334-6692"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiahang Liu","raw_affiliation_strings":["Beijing Institute of Biotechnology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Biotechnology, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053112608","display_name":"Xin Xu","orcid":"https://orcid.org/0000-0003-3238-745X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Xu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102006100","display_name":"Yang Lu","orcid":"https://orcid.org/0000-0002-4023-3963"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Lu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111260382","display_name":"Ruizhuo Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruizhuo Wu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101786094"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21490958,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":"11","first_page":"20464","last_page":"20476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9891999959945679,"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":0.9891999959945679,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.825634777545929},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.6305287480354309},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5247278809547424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4462053179740906},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.44414612650871277},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.4412868916988373},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3896803557872772},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3745560646057129},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33665576577186584},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3106008768081665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17403310537338257},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.05879870057106018}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.825634777545929},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6305287480354309},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5247278809547424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4462053179740906},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.44414612650871277},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.4412868916988373},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3896803557872772},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3745560646057129},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33665576577186584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3106008768081665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17403310537338257},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.05879870057106018},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3591906","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3591906","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":[{"display_name":"Affordable and clean energy","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G62426012","display_name":null,"funder_award_id":"U24A20279","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7763311295","display_name":null,"funder_award_id":"62306325","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8354495100","display_name":null,"funder_award_id":"U21A20518","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1724370735","https://openalex.org/W1851495196","https://openalex.org/W1964375638","https://openalex.org/W2001856902","https://openalex.org/W2037648445","https://openalex.org/W2078977470","https://openalex.org/W2093092271","https://openalex.org/W2118556122","https://openalex.org/W2153290280","https://openalex.org/W2154256781","https://openalex.org/W2154844948","https://openalex.org/W2169761102","https://openalex.org/W2802214905","https://openalex.org/W2913416895","https://openalex.org/W2946231253","https://openalex.org/W2963683522","https://openalex.org/W2965525929","https://openalex.org/W3004840042","https://openalex.org/W3127561923","https://openalex.org/W4205769419","https://openalex.org/W4226030552","https://openalex.org/W4245296547","https://openalex.org/W4292975703","https://openalex.org/W4313478129","https://openalex.org/W4321331567","https://openalex.org/W4321380998","https://openalex.org/W4353056919","https://openalex.org/W4365790382","https://openalex.org/W4382568404","https://openalex.org/W4385741175","https://openalex.org/W4385757459","https://openalex.org/W4388505269","https://openalex.org/W4389371135","https://openalex.org/W4390579360","https://openalex.org/W4390755345","https://openalex.org/W4399939583","https://openalex.org/W4401659314","https://openalex.org/W4406495793"],"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":{"Achieving":[0],"optimal":[1,34,68],"control":[2,35,100],"in":[3,63,138],"the":[4,117,121,131,144,151,155,158],"path-tracking":[5],"of":[6,32,160],"intelligent":[7],"vehicles":[8],"is":[9],"crucial":[10],"for":[11,40,66,116],"enhancing":[12],"driving":[13],"performance,":[14],"yet":[15],"it":[16],"remains":[17],"challenging":[18],"due":[19],"to":[20],"model":[21,123],"uncertainties":[22],"and":[23,53,107,120,128,133,148,157],"nonlinear":[24,47],"dynamics.":[25,48],"Reinforcement":[26,80],"learning":[27,55,89,114,126],"(RL),":[28],"as":[29],"a":[30,77,98,111],"class":[31],"approximated":[33],"methods,":[36],"has":[37],"gained":[38],"attention":[39],"tackling":[41],"complex":[42],"problems":[43],"with":[44,91],"uncertain":[45],"or":[46],"However,":[49],"effective":[50],"feature":[51,93],"representation":[52],"online":[54,88,104],"efficiency":[56,127],"are":[57,136],"two":[58],"major":[59],"issues":[60],"that":[61,102],"persist":[62],"RL":[64],"methods":[65],"adaptive":[67],"control.":[69],"To":[70],"address":[71],"these":[72],"challenges,":[73],"this":[74],"paper":[75],"proposes":[76],"Receding-horizon":[78],"Multi-kernel":[79],"Learning":[81],"(RM-RL)":[82],"algorithm,":[83],"which":[84],"integrates":[85],"an":[86],"efficient":[87],"mechanism":[90],"improved":[92],"representations.":[94],"RM-RL":[95,161],"operates":[96],"within":[97],"receding-horizon":[99],"framework":[101],"facilitates":[103],"policy":[105],"optimization":[106],"deployment.":[108],"Meanwhile,":[109],"employing":[110],"multi-kernel":[112],"features":[113],"approach":[115],"actor-critic":[118],"structure":[119],"dynamics":[122],"further":[124],"improves":[125],"generalization.":[129],"Besides,":[130],"convergence":[132],"closed-loop":[134],"stability":[135],"analyzed":[137],"depth.":[139],"Real-world":[140],"experiments":[141],"conducted":[142],"on":[143,150],"Hongqi":[145],"E-HS3":[146],"vehicle":[147],"simulations":[149],"CarSim":[152],"platform":[153],"demonstrate":[154],"effectiveness":[156],"superiority":[159],"over":[162],"advanced":[163],"comparative":[164],"methods.":[165]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
