{"id":"https://openalex.org/W2980571877","doi":"https://doi.org/10.1109/tvt.2019.2947192","title":"A Cooperative Driving Strategy for Merging at On-Ramps Based on Dynamic Programming","display_name":"A Cooperative Driving Strategy for Merging at On-Ramps Based on Dynamic Programming","publication_year":2019,"publication_date":"2019-10-14","ids":{"openalex":"https://openalex.org/W2980571877","doi":"https://doi.org/10.1109/tvt.2019.2947192","mag":"2980571877"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2019.2947192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2947192","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5067328517","display_name":"Huaxin Pei","orcid":"https://orcid.org/0000-0003-4815-2778"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaxin Pei","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4815-2778","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090727900","display_name":"Shuo Feng","orcid":"https://orcid.org/0000-0002-2117-4427"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Feng","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2117-4427","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100653787","display_name":"Yi Zhang","orcid":"https://orcid.org/0000-0001-5526-866X"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Zhang","raw_affiliation_strings":["Berkeley Shenzhen Institute (TBSI), Shenzhen, China","Department of Automation, BNRist, Tsinghua University, Beijing","Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Berkeley Shenzhen Institute (TBSI), Shenzhen, China","institution_ids":["https://openalex.org/I4210114105"]},{"raw_affiliation_string":"Department of Automation, BNRist, Tsinghua University, Beijing","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081663090","display_name":"Danya Yao","orcid":"https://orcid.org/0000-0001-5032-6322"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Danya Yao","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3844,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":{"value":0.95084836,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"68","issue":"12","first_page":"11646","last_page":"11656"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998999834060669,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9993000030517578,"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/dynamic-programming","display_name":"Dynamic programming","score":0.7054599523544312},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.6814844012260437},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.622803270816803},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6178207397460938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5880100727081299},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5807454586029053},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5412343144416809},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4910717010498047},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4826265275478363},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4761381447315216},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.43497171998023987},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25399360060691833},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22651368379592896}],"concepts":[{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.7054599523544312},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.6814844012260437},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.622803270816803},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6178207397460938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5880100727081299},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5807454586029053},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5412343144416809},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4910717010498047},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4826265275478363},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4761381447315216},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.43497171998023987},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25399360060691833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22651368379592896},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2019.2947192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2019.2947192","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6747805985","display_name":null,"funder_award_id":"61673233","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":34,"referenced_works":["https://openalex.org/W1571552128","https://openalex.org/W1577278402","https://openalex.org/W1997652242","https://openalex.org/W2011702401","https://openalex.org/W2026052947","https://openalex.org/W2099860849","https://openalex.org/W2137514195","https://openalex.org/W2141000273","https://openalex.org/W2146363089","https://openalex.org/W2148234869","https://openalex.org/W2149649818","https://openalex.org/W2284958039","https://openalex.org/W2318645474","https://openalex.org/W2525715571","https://openalex.org/W2540923637","https://openalex.org/W2567583007","https://openalex.org/W2613420336","https://openalex.org/W2763204767","https://openalex.org/W2765377587","https://openalex.org/W2772329503","https://openalex.org/W2782493803","https://openalex.org/W2793438216","https://openalex.org/W2799121082","https://openalex.org/W2800510943","https://openalex.org/W2809108166","https://openalex.org/W2887895283","https://openalex.org/W2913230672","https://openalex.org/W2915503171","https://openalex.org/W2921436962","https://openalex.org/W2945898791","https://openalex.org/W2950962171","https://openalex.org/W2964336994","https://openalex.org/W2976133733","https://openalex.org/W6674980194"],"related_works":["https://openalex.org/W2195904091","https://openalex.org/W2381415338","https://openalex.org/W2365404242","https://openalex.org/W2023863393","https://openalex.org/W2370319203","https://openalex.org/W4241844845","https://openalex.org/W2365866555","https://openalex.org/W2937304254","https://openalex.org/W2910919598","https://openalex.org/W2378954083"],"abstract_inverted_index":{"Cooperative":[0],"driving":[1,36],"emerges":[2],"as":[3],"a":[4,24,97,105,126,154],"promising":[5],"way":[6],"to":[7,22,26,52,89,132,162],"improve":[8],"efficiency":[9],"and":[10,14,112,174,223],"safety":[11],"for":[12,118],"Connected":[13],"Automated":[15],"Vehicles":[16],"(CAVs).":[17],"Its":[18],"key":[19],"idea":[20],"is":[21,47,79,115,130,151,182],"design":[23],"strategy":[25,67,129,220],"schedule":[27],"the":[28,54,62,71,110,134,145,159,164,169,178,185,194,208,215,218],"movements":[29],"of":[30,59,65,74,109,147,199,210,217],"neighboring":[31],"vehicles.":[32,75,211],"The":[33,44,76],"typical":[34],"cooperative":[35],"strategies":[37],"can":[38,190],"be":[39,191],"categorized":[40],"into":[41],"two":[42],"categories.":[43],"first":[45],"category":[46,78],"optimal":[48,56,94,136,187],"strategy,":[49,81],"which":[50,82,157],"aims":[51],"find":[53],"globally":[55,135,186],"passing":[57,137,188],"order":[58,138,189],"vehicles,":[60],"but":[61],"computational":[63,197],"cost":[64],"this":[66],"grows":[68],"significantly":[69],"with":[70,193],"increasing":[72],"number":[73,209],"second":[77],"sub-optimal":[80],"uses":[83,158],"heuristic":[84],"rules":[85],"or":[86],"other":[87],"methods":[88],"export":[90],"an":[91],"acceptable":[92],"local":[93],"solution":[95],"within":[96],"limited":[98],"computation":[99],"time.":[100],"However,":[101],"there":[102],"usually":[103],"lacks":[104],"rigorous":[106],"theoretical":[107],"guarantee":[108],"performances,":[111],"further":[113],"validation":[114],"always":[116],"required":[117],"practical":[119],"applications.":[120],"To":[121],"overcome":[122],"all":[123],"these":[124],"limitations,":[125],"computationally":[127],"efficient":[128],"proposed":[131,219],"obtain":[133],"based":[139],"on":[140],"dynamic":[141],"programming":[142],"(DP).":[143],"Specifically,":[144],"problem":[146],"merging":[148],"at":[149],"on-ramps":[150],"resolved":[152],"by":[153,166],"DP":[155,179],"method,":[156,180],"domain":[160],"knowledge":[161],"reduce":[163],"complexity":[165,198],"well":[167],"defining":[168],"state":[170,172],"space,":[171],"transition,":[173],"criterion":[175],"function.":[176],"With":[177],"it":[181],"proved":[183],"that":[184],"obtained":[192],"quadratic":[195],"polynomial":[196],"O(N":[200],"<sup":[201],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[202],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[203],"),":[204],"where":[205],"N":[206],"denotes":[207],"Simulation":[212],"results":[213],"demonstrate":[214],"performances":[216],"regarding":[221],"optimality":[222],"efficiency.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}