{"id":"https://openalex.org/W4312609010","doi":"https://doi.org/10.1109/tvt.2022.3217299","title":"Exploiting Multi-Modal Fusion for Urban Autonomous Driving Using Latent Deep Reinforcement Learning","display_name":"Exploiting Multi-Modal Fusion for Urban Autonomous Driving Using Latent Deep Reinforcement Learning","publication_year":2022,"publication_date":"2022-11-04","ids":{"openalex":"https://openalex.org/W4312609010","doi":"https://doi.org/10.1109/tvt.2022.3217299"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2022.3217299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3217299","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10393/43530","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002017846","display_name":"Yasser H. Khalil","orcid":"https://orcid.org/0000-0002-6632-6068"},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yasser H. Khalil","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6632-6068","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada","institution_ids":["https://openalex.org/I153718931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055542851","display_name":"Hussein T. Mouftah","orcid":"https://orcid.org/0000-0001-7939-7212"},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hussein T. Mouftah","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7939-7212","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, Canada","institution_ids":["https://openalex.org/I153718931"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I153718931"],"apc_list":null,"apc_paid":null,"fwci":1.9496,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.85745903,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"72","issue":"3","first_page":"2921","last_page":"2935"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9987999796867371,"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":0.9987999796867371,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9973999857902527,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9930999875068665,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8539414405822754},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6700413823127747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.606597900390625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5967519283294678},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.47554394602775574},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.459934264421463},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4565616846084595},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4428706169128418}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8539414405822754},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6700413823127747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.606597900390625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5967519283294678},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.47554394602775574},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.459934264421463},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4565616846084595},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4428706169128418},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tvt.2022.3217299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3217299","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"},{"id":"pmh:oai:ruor.uottawa.ca:10393/43530","is_oa":true,"landing_page_url":"http://hdl.handle.net/10393/43530","pdf_url":null,"source":{"id":"https://openalex.org/S4306400902","display_name":"uO Research (University of Ottawa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I153718931","host_organization_name":"University of Ottawa","host_organization_lineage":["https://openalex.org/I153718931"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"doi:10.20381/ruor-27745","is_oa":true,"landing_page_url":"https://doi.org/10.20381/ruor-27745","pdf_url":null,"source":{"id":"https://openalex.org/S7407053184","display_name":"University of Ottawa - Library","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:ruor.uottawa.ca:10393/43530","is_oa":true,"landing_page_url":"http://hdl.handle.net/10393/43530","pdf_url":null,"source":{"id":"https://openalex.org/S4306400902","display_name":"uO Research (University of Ottawa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I153718931","host_organization_name":"University of Ottawa","host_organization_lineage":["https://openalex.org/I153718931"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G5167574045","display_name":null,"funder_award_id":"RGPIN/1056-2017","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2559694506","https://openalex.org/W2736601468","https://openalex.org/W2746553466","https://openalex.org/W2887286974","https://openalex.org/W2962894046","https://openalex.org/W2968983352","https://openalex.org/W2981207549","https://openalex.org/W2989964169","https://openalex.org/W2990123902","https://openalex.org/W2991046523","https://openalex.org/W2996726407","https://openalex.org/W3009593063","https://openalex.org/W3028020181","https://openalex.org/W3034269714","https://openalex.org/W3034295100","https://openalex.org/W3034552332","https://openalex.org/W3035574168","https://openalex.org/W3081125129","https://openalex.org/W3088310808","https://openalex.org/W3112673853","https://openalex.org/W3118868204","https://openalex.org/W3120778962","https://openalex.org/W3127561923","https://openalex.org/W3128395826","https://openalex.org/W3128910074","https://openalex.org/W3133466685","https://openalex.org/W3138954248","https://openalex.org/W3161855852","https://openalex.org/W3173252859","https://openalex.org/W3183449896","https://openalex.org/W3192815172","https://openalex.org/W3202546516","https://openalex.org/W3208053397","https://openalex.org/W3209213339","https://openalex.org/W3209773989","https://openalex.org/W3216656735","https://openalex.org/W4200094847","https://openalex.org/W4220829461","https://openalex.org/W4298857966","https://openalex.org/W4315629604","https://openalex.org/W6637967152","https://openalex.org/W6684921986","https://openalex.org/W6741002519","https://openalex.org/W6745935785","https://openalex.org/W6747473740","https://openalex.org/W6748839928","https://openalex.org/W6765407481","https://openalex.org/W6771787661"],"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":{"Human":[0],"driving":[1,11,79,141,189],"decisions":[2,16],"are":[3,106,125,171,198],"the":[4,133,202],"leading":[5,161],"cause":[6],"of":[7,204],"road":[8],"fatalities.":[9],"Autonomous":[10],"naturally":[12],"eliminates":[13],"such":[14],"incompetent":[15],"and":[17,23,53,56,100,120,146,175,211],"thus":[18],"can":[19],"improve":[20],"traffic":[21],"safety":[22],"efficiency.":[24],"Deep":[25],"reinforcement":[26,167],"learning":[27,34],"(DRL)":[28],"has":[29,66],"shown":[30],"great":[31],"potential":[32],"in":[33],"complex":[35,139],"tasks.":[36],"Recently,":[37],"researchers":[38],"investigated":[39],"various":[40],"DRL-based":[41],"approaches":[42],"for":[43,166],"autonomous":[44,78],"driving.":[45],"However,":[46],"exploiting":[47],"multi-modal":[48,81,112],"fusion":[49,82,113],"to":[50,61,92,115,136,154,162,200],"generate":[51],"perception":[52,119],"motion":[54,121],"prediction":[55],"then":[57],"leveraging":[58],"these":[59],"predictions":[60,124],"train":[62],"a":[63,110,138,187],"latent":[64,84,134,150],"DRL":[65,135,179],"not":[67],"been":[68],"targeted":[69],"yet.":[70],"To":[71],"that":[72,183,191],"end,":[73],"we":[74],"propose":[75],"enhancing":[76],"urban":[77],"using":[80],"with":[83,127],"DRL.":[85],"A":[86,148],"single":[87],"LIDAR":[88],"sensor":[89],"is":[90,152],"used":[91],"extract":[93],"bird's-eye":[94],"view":[95,98],"(BEV),":[96],"range":[97],"(RV),":[99],"residual":[101],"input":[102],"images.":[103],"These":[104],"images":[105],"passed":[107],"into":[108,132],"LiCaNext,":[109],"real-time":[111],"network,":[114],"produce":[116],"accurate":[117],"joint":[118],"prediction.":[122],"Next,":[123],"fed":[126],"another":[128],"simple":[129],"BEV":[130],"image":[131],"learn":[137,155],"end-to-end":[140],"policy":[142,190],"ensuring":[143],"safety,":[144],"efficiency,":[145],"comfort.":[147],"sequential":[149],"model":[151],"deployed":[153],"more":[156],"compact":[157],"representations":[158],"from":[159],"inputs,":[160],"improved":[163],"sampling":[164],"efficiency":[165],"learning.":[168],"Our":[169],"experiments":[170,197],"simulated":[172],"on":[173],"CARLA":[174],"evaluated":[176],"against":[177],"state-of-the-art":[178],"models.":[180,195],"Results":[181],"manifest":[182],"our":[184,205],"method":[185],"learns":[186],"better":[188],"outperforms":[192],"other":[193],"prevailing":[194],"Further":[196],"conducted":[199],"reveal":[201],"effectiveness":[203],"proposed":[206],"approach":[207],"under":[208],"different":[209],"environments":[210],"varying":[212],"weather":[213],"conditions.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}