{"id":"https://openalex.org/W2978967214","doi":"https://doi.org/10.1109/ijcnn.2019.8851766","title":"Model-Free Reinforcement Learning based Lateral Control for Lane Keeping","display_name":"Model-Free Reinforcement Learning based Lateral Control for Lane Keeping","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2978967214","doi":"https://doi.org/10.1109/ijcnn.2019.8851766","mag":"2978967214"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn.2019.8851766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2019.8851766","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-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/A5049454999","display_name":"Qichao Zhang","orcid":"https://orcid.org/0000-0001-9747-391X"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qichao Zhang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103025031","display_name":"Rui Luo","orcid":"https://orcid.org/0000-0002-4230-7372"},"institutions":[{"id":"https://openalex.org/I153473198","display_name":"North China Electric Power University","ror":"https://ror.org/04qr5t414","country_code":"CN","type":"education","lineage":["https://openalex.org/I153473198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Luo","raw_affiliation_strings":["State Key Laboratory of Synthetical Automation for Process Industries, North China Electric Power University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Synthetical Automation for Process Industries, North China Electric Power University, Beijing, China","institution_ids":["https://openalex.org/I153473198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100624298","display_name":"Dongbin Zhao","orcid":"https://orcid.org/0000-0001-8218-9633"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongbin Zhao","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038203605","display_name":"Chaomin Luo","orcid":"https://orcid.org/0000-0002-7578-3631"},"institutions":[{"id":"https://openalex.org/I71792333","display_name":"University of Detroit Mercy","ror":"https://ror.org/0037qsh65","country_code":"US","type":"education","lineage":["https://openalex.org/I71792333"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chaomin Luo","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Detroit Mercy, Michigan, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Detroit Mercy, Michigan, USA","institution_ids":["https://openalex.org/I71792333"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043490720","display_name":"Dianwei Qian","orcid":"https://orcid.org/0000-0001-7153-7997"},"institutions":[{"id":"https://openalex.org/I153473198","display_name":"North China Electric Power University","ror":"https://ror.org/04qr5t414","country_code":"CN","type":"education","lineage":["https://openalex.org/I153473198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dianwei Qian","raw_affiliation_strings":["School of Control and Computer Engineering, North China Electric Power Unverisity, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Control and Computer Engineering, North China Electric Power Unverisity, Beijing, China","institution_ids":["https://openalex.org/I153473198"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049454999"],"corresponding_institution_ids":["https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.8316,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.7414359,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9979000091552734,"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":0.9979000091552734,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.8334771394729614},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7633787393569946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7257050275802612},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6964736580848694},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6066063046455383},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6003379821777344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5138183236122131},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.4440712630748749},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41828984022140503},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40296629071235657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30193543434143066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2037079930305481},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10744613409042358},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09579136967658997},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.07565316557884216},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.06151881814002991}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8334771394729614},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7633787393569946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7257050275802612},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6964736580848694},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6066063046455383},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6003379821777344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5138183236122131},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.4440712630748749},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41828984022140503},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40296629071235657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30193543434143066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2037079930305481},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10744613409042358},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09579136967658997},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.07565316557884216},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.06151881814002991},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn.2019.8851766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2019.8851766","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W2037025184","https://openalex.org/W2102933137","https://openalex.org/W2107726111","https://openalex.org/W2110852918","https://openalex.org/W2333120204","https://openalex.org/W2508598219","https://openalex.org/W2586495351","https://openalex.org/W2606548817","https://openalex.org/W2727450595","https://openalex.org/W2793780249","https://openalex.org/W2803973384","https://openalex.org/W2889480290","https://openalex.org/W3150098721","https://openalex.org/W6749949824","https://openalex.org/W6751378828"],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2138720691","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2024136090","https://openalex.org/W2964765435","https://openalex.org/W2585069576"],"abstract_inverted_index":{"In":[0],"this":[1,88],"paper,":[2],"the":[3,17,26,32,39,44,49,71,76,81,91,98,116,119],"lateral":[4,50],"control":[5,51],"strategy":[6,52],"for":[7,53,87,95],"lane":[8,56],"keeping":[9,57],"task,":[10,89],"which":[11],"is":[12,22,58,85],"an":[13],"important":[14],"module":[15],"in":[16],"advanced":[18],"assistant":[19],"driver":[20,54,61,96],"systems,":[21],"proposed":[23,120],"based":[24,104],"on":[25,105],"model-free":[27],"reinforcement":[28],"learning.":[29],"Different":[30],"from":[31],"model-based":[33],"methods,":[34],"our":[35],"method":[36],"only":[37],"requires":[38],"generated":[40],"data":[41],"rather":[42],"than":[43],"accurate":[45],"system":[46],"model.":[47],"Furthermore,":[48],"model":[55],"given,":[59],"where":[60,90],"controller":[62,66,94,101],"and":[63,97],"direct":[64],"yaw":[65],"(DYC)":[67],"are":[68,102],"working":[69],"at":[70],"same":[72],"time":[73],"to":[74,114],"maintain":[75],"vehicle":[77],"stability.":[78],"Note":[79],"that":[80],"dynamic":[82],"game":[83,107],"theory":[84],"considered":[86],"steering":[92],"wheel":[93],"DYC":[99],"compensated":[100],"obtained":[103],"Nash":[106],"theory.":[108],"Finally,":[109],"we":[110],"give":[111],"simulation":[112],"examples":[113],"prove":[115],"validity":[117],"of":[118],"schemes.":[121]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
