{"id":"https://openalex.org/W4399939583","doi":"https://doi.org/10.1109/tvt.2024.3412530","title":"Game-Theoretic Receding-Horizon Reinforcement Learning for Lateral Control of Autonomous Vehicles","display_name":"Game-Theoretic Receding-Horizon Reinforcement Learning for Lateral Control of Autonomous Vehicles","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4399939583","doi":"https://doi.org/10.1109/tvt.2024.3412530"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3412530","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3412530","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/A5014193593","display_name":"Qingwen Ma","orcid":"https://orcid.org/0000-0002-0344-9618"},"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":"Qingwen Ma","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/A5102934127","display_name":"Xin Yin","orcid":"https://orcid.org/0000-0001-7718-0466"},"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 Yin","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/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":"last","author":{"id":"https://openalex.org/A5100770185","display_name":"Xinxin Yao","orcid":"https://orcid.org/0000-0002-2309-9678"},"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":"Xinxin Yao","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":5,"corresponding_author_ids":["https://openalex.org/A5014193593"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":2.2991,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.88166166,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"73","issue":"10","first_page":"14547","last_page":"14562"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9692999720573425,"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":0.9692999720573425,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9185000061988831,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.901199996471405,"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":0.7629331350326538},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.6883436441421509},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5489634871482849},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5368998050689697},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47379419207572937},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.4716552793979645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4696466326713562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38986408710479736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2950103282928467},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2034817636013031},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.17136281728744507},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14660409092903137}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7629331350326538},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6883436441421509},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5489634871482849},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5368998050689697},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47379419207572937},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.4716552793979645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4696466326713562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38986408710479736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2950103282928467},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2034817636013031},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.17136281728744507},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14660409092903137},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2024.3412530","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3412530","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/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":46,"referenced_works":["https://openalex.org/W168172299","https://openalex.org/W1517236425","https://openalex.org/W1851495196","https://openalex.org/W1983523797","https://openalex.org/W2035633629","https://openalex.org/W2100306753","https://openalex.org/W2108286682","https://openalex.org/W2116479681","https://openalex.org/W2132468772","https://openalex.org/W2151361137","https://openalex.org/W2171197969","https://openalex.org/W2193394111","https://openalex.org/W2343568200","https://openalex.org/W2484646121","https://openalex.org/W2490662969","https://openalex.org/W2585666612","https://openalex.org/W2782608458","https://openalex.org/W2802508687","https://openalex.org/W2831552117","https://openalex.org/W2902817737","https://openalex.org/W2955933020","https://openalex.org/W2996012538","https://openalex.org/W3005370636","https://openalex.org/W3006150588","https://openalex.org/W3026645450","https://openalex.org/W3044225827","https://openalex.org/W3091282683","https://openalex.org/W3143734617","https://openalex.org/W3155168014","https://openalex.org/W3156965612","https://openalex.org/W3164366573","https://openalex.org/W3165186350","https://openalex.org/W3208674021","https://openalex.org/W3217454559","https://openalex.org/W4205769419","https://openalex.org/W4214717370","https://openalex.org/W4226246132","https://openalex.org/W4226264792","https://openalex.org/W4226343909","https://openalex.org/W4285108207","https://openalex.org/W4285131474","https://openalex.org/W4285232622","https://openalex.org/W4294167390","https://openalex.org/W4308986526","https://openalex.org/W4313148607","https://openalex.org/W4385702817"],"related_works":["https://openalex.org/W2920061524","https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"Lateral":[0],"control":[1,17,60,78,95,151,187,199,226],"for":[2,31,56],"autonomous":[3,62,247],"vehicles":[4,63],"(AVs)":[5],"under":[6,33,166,231],"uncertainties":[7,34,85,119],"is":[8,20,143,182,201,211],"an":[9,246],"important":[10],"research":[11],"topic.":[12],"Although":[13],"there":[14],"exist":[15],"various":[16],"approaches,":[18],"it":[19],"still":[21],"a":[22,27,48,129,173],"difficult":[23],"problem":[24],"to":[25,84,184,218],"design":[26],"robust":[28],"optimal":[29],"controller":[30,142],"AVs":[32,123],"in":[35,64],"the":[36,57,82,99,107,118,122,138,141,149,155,162,169,186,193,196,204,208,220,223,250,254,259],"conditions":[37,71,238],"of":[38,61,101,140,195,207,222,258],"high":[39,69,236],"maneuverability":[40],"and":[41,72,80,106,126,164,177,203,239,249,256],"large":[42,73,240],"curvature":[43,74,241],"turns.":[44],"This":[45],"paper":[46],"proposes":[47],"game-theoretic":[49],"receding":[50,102,114],"horizon":[51,103,115],"reinforcement":[52,104,116],"learning":[53,90,105],"algorithm":[54,171],"(GTRHRL)":[55],"lateral":[58],"tracking":[59],"special":[65,232],"scenarios,":[66,233],"such":[67,234],"as":[68,128,158,160,235],"maneuvering":[70,237],"turns,":[75],"which":[76],"improves":[77],"performance":[79],"enhances":[81],"robustness":[83,139],"while":[86],"possessing":[87],"efficient":[88],"online":[89],"capabilities.":[91],"The":[92,228],"proposed":[93,150,224,260],"learning-based":[94,198,225],"strategy":[96,152,200],"combines":[97],"both":[98],"advantages":[100],"differential":[108,133],"game":[109],"theory.":[110],"Different":[111],"from":[112],"previous":[113],"learning,":[117],"imposed":[120],"on":[121,245],"are":[124,215,243],"considered":[125],"formulated":[127],"player":[130],"by":[131],"zero-sum":[132],"games.":[134],"In":[135],"this":[136],"way,":[137],"guaranteed.":[144],"Meanwhile,":[145],"we":[146],"prove":[147],"that":[148],"can":[153],"reach":[154],"Nash":[156],"equilibrium":[157],"well":[159],"retaining":[161],"stability":[163,191,194],"optimality":[165],"uncertainties.":[167],"Furthermore,":[168],"actor-critic":[170],"including":[172],"critic":[174],"neural":[175,180,209],"network":[176],"two":[178],"actor":[179],"networks":[181,210],"designed":[183],"implement":[185],"strategy.":[188,227,261],"By":[189],"Lyapunov":[190],"theory,":[192],"implemented":[197],"analyzed,":[202],"convergence":[205],"analysis":[206],"performed.":[212],"Various":[213],"simulations":[214],"carried":[216],"out":[217],"illustrate":[219],"superiority":[221],"experimental":[229],"studies":[230],"turns":[242],"performed":[244],"vehicle,":[248],"results":[251],"further":[252],"validate":[253],"effectiveness":[255],"feasibility":[257]},"counts_by_year":[{"year":2025,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}