{"id":"https://openalex.org/W4387448509","doi":"https://doi.org/10.1109/tiv.2023.3322694","title":"Counterfactual Evolutionary Reasoning for Virtual Driver Reinforcement Learning in Safe Driving","display_name":"Counterfactual Evolutionary Reasoning for Virtual Driver Reinforcement Learning in Safe Driving","publication_year":2023,"publication_date":"2023-10-09","ids":{"openalex":"https://openalex.org/W4387448509","doi":"https://doi.org/10.1109/tiv.2023.3322694"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3322694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3322694","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5025706580","display_name":"Peijun Ye","orcid":"https://orcid.org/0000-0001-9987-9016"},"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":"Peijun Ye","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9987-9016","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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100602719","display_name":"Hao Qi","orcid":"https://orcid.org/0009-0003-3949-6816"},"institutions":[{"id":"https://openalex.org/I4210099312","display_name":"Shandong Jiaotong University","ror":"https://ror.org/01848hk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210099312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Qi","raw_affiliation_strings":["School of Rail Transportation, Shandong Jiaotong University, Jinan, China"],"raw_orcid":"https://orcid.org/0009-0003-3949-6816","affiliations":[{"raw_affiliation_string":"School of Rail Transportation, Shandong Jiaotong University, Jinan, China","institution_ids":["https://openalex.org/I4210099312"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042359485","display_name":"Fenghua Zhu","orcid":"https://orcid.org/0000-0003-2886-6968"},"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":"Fenghua Zhu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2886-6968","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"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076992681","display_name":"Yisheng Lv","orcid":"https://orcid.org/0000-0002-7565-4979"},"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":"Yisheng Lv","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7565-4979","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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2966,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.7766741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":"12","first_page":"4696","last_page":"4705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9973999857902527,"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":0.9973999857902527,"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":0.97079998254776,"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"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9430999755859375,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/counterfactual-thinking","display_name":"Counterfactual thinking","score":0.9106701612472534},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7812801003456116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7052323818206787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5247585773468018},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.49938488006591797},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4914041757583618},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4758565127849579},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07977759838104248}],"concepts":[{"id":"https://openalex.org/C108650721","wikidata":"https://www.wikidata.org/wiki/Q1783253","display_name":"Counterfactual thinking","level":2,"score":0.9106701612472534},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7812801003456116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7052323818206787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5247585773468018},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.49938488006591797},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4914041757583618},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4758565127849579},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07977759838104248},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2023.3322694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3322694","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2506547696","display_name":null,"funder_award_id":"62076237","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G565686627","display_name":null,"funder_award_id":"2021130","funder_id":"https://openalex.org/F4320322847","funder_display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences"},{"id":"https://openalex.org/G6230475793","display_name":null,"funder_award_id":"U1909204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G624109433","display_name":null,"funder_award_id":"T2192933","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/F4320322847","display_name":"Youth Innovation Promotion Association of the Chinese Academy of Sciences","ror":"https://ror.org/031141b54"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1514350488","https://openalex.org/W2113992026","https://openalex.org/W2486285194","https://openalex.org/W2562817597","https://openalex.org/W2736601468","https://openalex.org/W2740234467","https://openalex.org/W2806373172","https://openalex.org/W2948153973","https://openalex.org/W2950216595","https://openalex.org/W2962894046","https://openalex.org/W2963523627","https://openalex.org/W2981402159","https://openalex.org/W2990711573","https://openalex.org/W3033863102","https://openalex.org/W3034819467","https://openalex.org/W3037434189","https://openalex.org/W3121030992","https://openalex.org/W3138984732","https://openalex.org/W3145799606","https://openalex.org/W3158740267","https://openalex.org/W3213862327","https://openalex.org/W4225773298","https://openalex.org/W4226075194","https://openalex.org/W4226438853","https://openalex.org/W4285047693","https://openalex.org/W4285278949","https://openalex.org/W4289288202","https://openalex.org/W4289792821","https://openalex.org/W4289886757","https://openalex.org/W4291653325","https://openalex.org/W4295719664","https://openalex.org/W4312530461","https://openalex.org/W4312705088","https://openalex.org/W4312911566","https://openalex.org/W4367721867","https://openalex.org/W4376166839","https://openalex.org/W4376851310","https://openalex.org/W4380085029","https://openalex.org/W6741002519","https://openalex.org/W6745935785","https://openalex.org/W6756341295"],"related_works":["https://openalex.org/W3201448254","https://openalex.org/W4286970243","https://openalex.org/W3025615835","https://openalex.org/W4384133558","https://openalex.org/W173210993","https://openalex.org/W2066431708","https://openalex.org/W2390660599","https://openalex.org/W3028847759","https://openalex.org/W2393688264","https://openalex.org/W3170174360"],"abstract_inverted_index":{"Safety":[0],"is":[1,128],"the":[2,6,12,19,28,68,88,111,119,133,140,146],"primary":[3],"concern":[4],"in":[5,27,139],"motion":[7],"planning":[8],"and":[9,23,104,163],"decision-making":[10,99],"of":[11,30,51,63,136],"virtual":[13,89,141],"driver":[14,22],"that":[15,82,145],"provides":[16],"prescriptions":[17],"to":[18,86,109,117,131],"real":[20],"human":[21,31],"even":[24],"performs":[25],"self-driving":[26],"absence":[29],"take-over.":[32],"For":[33],"such":[34],"an":[35],"issue,":[36],"traditional":[37],"reinforcement":[38,153],"learning":[39,44,154],"methods,":[40],"limited":[41],"by":[42],"their":[43],"mechanisms,":[45],"suffer":[46],"from":[47,125],"a":[48,57,74,97,158,164],"slow":[49],"convergence":[50,166],"model":[52,120],"training":[53],"as":[54,56,96,114,116],"well":[55,115],"less":[58],"consideration":[59],"for":[60],"early":[61],"warning":[62],"possible":[64],"accidents.":[65],"To":[66],"address":[67],"above":[69],"deficiency,":[70],"this":[71],"paper":[72],"proposes":[73],"new":[75],"method":[76,92],"based":[77],"on":[78],"counterfactual":[79,106],"evolutionary":[80,107],"reasoning":[81,108],"can":[83],"be":[84],"used":[85],"build":[87],"driver.":[90],"The":[91],"treats":[93],"safe":[94,160],"driving":[95],"sequential":[98],"problem":[100],"with":[101,150],"sparse":[102],"rewards,":[103],"employs":[105],"guide":[110],"searching":[112],"direction":[113],"accelerate":[118],"training.":[121],"An":[122],"intervention":[123],"mechanism":[124],"outlier":[126],"distributions":[127],"further":[129],"introduced":[130],"enhance":[132],"model's":[134],"ability":[135],"exploration.":[137],"Experiments":[138],"test":[142],"environment":[143],"indicate":[144],"proposed":[147],"method,":[148],"compared":[149],"other":[151],"typical":[152],"techniques,":[155],"both":[156],"achieves":[157],"higher":[159],"arrival":[161],"rate":[162],"faster":[165],"speed.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}