{"id":"https://openalex.org/W3004270765","doi":"https://doi.org/10.1109/tits.2020.3024655","title":"Survey of Deep Reinforcement Learning for Motion Planning of Autonomous Vehicles","display_name":"Survey of Deep Reinforcement Learning for Motion Planning of Autonomous Vehicles","publication_year":2020,"publication_date":"2020-09-30","ids":{"openalex":"https://openalex.org/W3004270765","doi":"https://doi.org/10.1109/tits.2020.3024655","mag":"3004270765"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2020.3024655","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tits.2020.3024655","pdf_url":"https://ieeexplore.ieee.org/ielx7/6979/9701814/09210154.pdf","source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/6979/9701814/09210154.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084972354","display_name":"Szil\u00e1rd Aradi","orcid":"https://orcid.org/0000-0001-6811-2584"},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Szilard Aradi","raw_affiliation_strings":["Department of Control for Transportation and Vehicle Systems, Budapest University of Technology and Economics, Budapest, Hungary","Budapest University of Technology and Economics"],"affiliations":[{"raw_affiliation_string":"Department of Control for Transportation and Vehicle Systems, Budapest University of Technology and Economics, Budapest, Hungary","institution_ids":["https://openalex.org/I29770179"]},{"raw_affiliation_string":"Budapest University of Technology and Economics","institution_ids":["https://openalex.org/I29770179"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5084972354"],"corresponding_institution_ids":["https://openalex.org/I29770179"],"apc_list":null,"apc_paid":null,"fwci":2.3414,"has_fulltext":true,"cited_by_count":31,"citation_normalized_percentile":{"value":0.87873689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"23","issue":"2","first_page":"740","last_page":"759"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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"}},"topics":[{"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/T10524","display_name":"Traffic control and management","score":0.9991000294685364,"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":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7759959101676941},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6567038297653198},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5517513155937195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5357581377029419},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5303972959518433},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.50144362449646},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49425673484802246},{"id":"https://openalex.org/keywords/standardization","display_name":"Standardization","score":0.48008590936660767},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.478044331073761},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.46581554412841797},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4633152484893799},{"id":"https://openalex.org/keywords/popularity","display_name":"Popularity","score":0.43676209449768066},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4101952612400055},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3293062150478363},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24764469265937805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24501395225524902}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7759959101676941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6567038297653198},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5517513155937195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5357581377029419},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5303972959518433},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.50144362449646},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49425673484802246},{"id":"https://openalex.org/C188087704","wikidata":"https://www.wikidata.org/wiki/Q369577","display_name":"Standardization","level":2,"score":0.48008590936660767},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.478044331073761},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.46581554412841797},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4633152484893799},{"id":"https://openalex.org/C2780586970","wikidata":"https://www.wikidata.org/wiki/Q1357284","display_name":"Popularity","level":2,"score":0.43676209449768066},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4101952612400055},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3293062150478363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24764469265937805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24501395225524902},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tits.2020.3024655","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tits.2020.3024655","pdf_url":"https://ieeexplore.ieee.org/ielx7/6979/9701814/09210154.pdf","source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2001.11231","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.11231","pdf_url":"https://arxiv.org/pdf/2001.11231","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3004270765","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2001.11231","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2001.11231","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2001.11231","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"article"}],"best_oa_location":{"id":"doi:10.1109/tits.2020.3024655","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tits.2020.3024655","pdf_url":"https://ieeexplore.ieee.org/ielx7/6979/9701814/09210154.pdf","source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G2646694177","display_name":null,"funder_award_id":"EFOP-3.6.3-VEKOP-16-2017-00001","funder_id":"https://openalex.org/F4320338080","funder_display_name":"European Social Fund"},{"id":"https://openalex.org/G3998201246","display_name":null,"funder_award_id":"Social","funder_id":"https://openalex.org/F4320338080","funder_display_name":"European Social Fund"},{"id":"https://openalex.org/G4368342600","display_name":null,"funder_award_id":"TKP2020","funder_id":"https://openalex.org/F4320311358","funder_display_name":"Budapesti M\u0171szaki \u00e9s Gazdas\u00e1gtudom\u00e1nyi Egyetem"},{"id":"https://openalex.org/G4693063966","display_name":null,"funder_award_id":"EFOP-3","funder_id":"https://openalex.org/F4320338080","funder_display_name":"European Social Fund"},{"id":"https://openalex.org/G6532494518","display_name":null,"funder_award_id":"EFOP-3.6.3-VEKOP-16-2017-00001","funder_id":"https://openalex.org/F4320326762","funder_display_name":"Nemzeti Kutat\u00e1si Fejleszt\u00e9si \u00e9s Innov\u00e1ci\u00f3s Hivatal"},{"id":"https://openalex.org/G6597494183","display_name":null,"funder_award_id":"EFOP-3.6.3-VEKOP-16-2017-00001","funder_id":"https://openalex.org/F4320311358","funder_display_name":"Budapesti M\u0171szaki \u00e9s Gazdas\u00e1gtudom\u00e1nyi Egyetem"},{"id":"https://openalex.org/G7110641696","display_name":null,"funder_award_id":"EFOP-3.6.3-VEKOP-16-2017-0000","funder_id":"https://openalex.org/F4320328860","funder_display_name":"Magyarorsz\u00e1g Korm\u00e1nya"},{"id":"https://openalex.org/G7269143174","display_name":null,"funder_award_id":"TKP2020","funder_id":"https://openalex.org/F4320326762","funder_display_name":"Nemzeti Kutat\u00e1si Fejleszt\u00e9si \u00e9s Innov\u00e1ci\u00f3s Hivatal"},{"id":"https://openalex.org/G7608155700","display_name":null,"funder_award_id":"BME IE-MI-FM TKP2020","funder_id":"https://openalex.org/F4320326762","funder_display_name":"Nemzeti Kutat\u00e1si Fejleszt\u00e9si \u00e9s Innov\u00e1ci\u00f3s Hivatal"},{"id":"https://openalex.org/G8153053535","display_name":null,"funder_award_id":"TKP2020","funder_id":"https://openalex.org/F4320338080","funder_display_name":"European Social Fund"},{"id":"https://openalex.org/G8305290468","display_name":null,"funder_award_id":"EFOP-3.6.3-VEKOP-16-2017-00001","funder_id":"https://openalex.org/F4320328860","funder_display_name":"Magyarorsz\u00e1g Korm\u00e1nya"},{"id":"https://openalex.org/G8725523790","display_name":null,"funder_award_id":"EFOP-3.6.3-VEKOP-16","funder_id":"https://openalex.org/F4320338080","funder_display_name":"European Social Fund"}],"funders":[{"id":"https://openalex.org/F4320311358","display_name":"Budapesti M\u0171szaki \u00e9s Gazdas\u00e1gtudom\u00e1nyi Egyetem","ror":"https://ror.org/02w42ss30"},{"id":"https://openalex.org/F4320326762","display_name":"Nemzeti Kutat\u00e1si Fejleszt\u00e9si \u00e9s Innov\u00e1ci\u00f3s Hivatal","ror":null},{"id":"https://openalex.org/F4320328860","display_name":"Magyarorsz\u00e1g Korm\u00e1nya","ror":"https://ror.org/007ekx298"},{"id":"https://openalex.org/F4320338080","display_name":"European Social Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3004270765.pdf","grobid_xml":"https://content.openalex.org/works/W3004270765.grobid-xml"},"referenced_works_count":137,"referenced_works":["https://openalex.org/W146964248","https://openalex.org/W1589674068","https://openalex.org/W1592601589","https://openalex.org/W1757796397","https://openalex.org/W1869778509","https://openalex.org/W1965455100","https://openalex.org/W1991504169","https://openalex.org/W1999050017","https://openalex.org/W2041225042","https://openalex.org/W2041911815","https://openalex.org/W2042106485","https://openalex.org/W2055501135","https://openalex.org/W2056877664","https://openalex.org/W2084835622","https://openalex.org/W2088956500","https://openalex.org/W2099471712","https://openalex.org/W2104094955","https://openalex.org/W2104317982","https://openalex.org/W2107544712","https://openalex.org/W2108511252","https://openalex.org/W2121863487","https://openalex.org/W2129535383","https://openalex.org/W2129660761","https://openalex.org/W2145339207","https://openalex.org/W2153909767","https://openalex.org/W2154844948","https://openalex.org/W2155968351","https://openalex.org/W2156194062","https://openalex.org/W2165150801","https://openalex.org/W2168359464","https://openalex.org/W2173248099","https://openalex.org/W2173564293","https://openalex.org/W2341171179","https://openalex.org/W2343568200","https://openalex.org/W2525884872","https://openalex.org/W2525936901","https://openalex.org/W2563338958","https://openalex.org/W2567313529","https://openalex.org/W2582616844","https://openalex.org/W2605102758","https://openalex.org/W2615131227","https://openalex.org/W2616635592","https://openalex.org/W2727840223","https://openalex.org/W2734900198","https://openalex.org/W2736791111","https://openalex.org/W2739529772","https://openalex.org/W2742483371","https://openalex.org/W2746553466","https://openalex.org/W2747213132","https://openalex.org/W2752236613","https://openalex.org/W2768629321","https://openalex.org/W2771256242","https://openalex.org/W2782851602","https://openalex.org/W2794786585","https://openalex.org/W2795064979","https://openalex.org/W2803184913","https://openalex.org/W2869375357","https://openalex.org/W2890375627","https://openalex.org/W2896066033","https://openalex.org/W2897522585","https://openalex.org/W2897889564","https://openalex.org/W2898696016","https://openalex.org/W2905334533","https://openalex.org/W2905438968","https://openalex.org/W2908261578","https://openalex.org/W2909906617","https://openalex.org/W2912445127","https://openalex.org/W2912471136","https://openalex.org/W2912493354","https://openalex.org/W2938272992","https://openalex.org/W2939569248","https://openalex.org/W2945935438","https://openalex.org/W2950786996","https://openalex.org/W2962853428","https://openalex.org/W2962867954","https://openalex.org/W2962977206","https://openalex.org/W2963165400","https://openalex.org/W2963219401","https://openalex.org/W2963322416","https://openalex.org/W2963625099","https://openalex.org/W2963906246","https://openalex.org/W2968628392","https://openalex.org/W2968983352","https://openalex.org/W2969758225","https://openalex.org/W2969903565","https://openalex.org/W2970517549","https://openalex.org/W2971027212","https://openalex.org/W2973183361","https://openalex.org/W2973841640","https://openalex.org/W2975703112","https://openalex.org/W2977843878","https://openalex.org/W2979628718","https://openalex.org/W2980522920","https://openalex.org/W2981038142","https://openalex.org/W2989958156","https://openalex.org/W2989964169","https://openalex.org/W2990417263","https://openalex.org/W2990845933","https://openalex.org/W2991052353","https://openalex.org/W2991448601","https://openalex.org/W2995343962","https://openalex.org/W2996603995","https://openalex.org/W3003285662","https://openalex.org/W3091516903","https://openalex.org/W3102777717","https://openalex.org/W3105115779","https://openalex.org/W3115648115","https://openalex.org/W3212743282","https://openalex.org/W4214717370","https://openalex.org/W4240204763","https://openalex.org/W6637967152","https://openalex.org/W6639086533","https://openalex.org/W6677916933","https://openalex.org/W6684205842","https://openalex.org/W6684921986","https://openalex.org/W6685444567","https://openalex.org/W6712181171","https://openalex.org/W6728155968","https://openalex.org/W6730344819","https://openalex.org/W6733118196","https://openalex.org/W6738796088","https://openalex.org/W6743367460","https://openalex.org/W6745935785","https://openalex.org/W6747574793","https://openalex.org/W6749650931","https://openalex.org/W6753670138","https://openalex.org/W6754689381","https://openalex.org/W6756840741","https://openalex.org/W6760279721","https://openalex.org/W6760290758","https://openalex.org/W6760985608","https://openalex.org/W6761443123","https://openalex.org/W6762721881","https://openalex.org/W6763002283","https://openalex.org/W6763950894","https://openalex.org/W6769657450","https://openalex.org/W6782167139"],"related_works":["https://openalex.org/W3090027660","https://openalex.org/W2981207549","https://openalex.org/W2999790975","https://openalex.org/W3008660260","https://openalex.org/W2997958396","https://openalex.org/W3168548745","https://openalex.org/W2775387430","https://openalex.org/W3000280594","https://openalex.org/W3013252351","https://openalex.org/W2969182950","https://openalex.org/W3165727671","https://openalex.org/W3044015199","https://openalex.org/W2972586504","https://openalex.org/W3120778962","https://openalex.org/W2983872911","https://openalex.org/W2017929393","https://openalex.org/W3022688188","https://openalex.org/W2144588269","https://openalex.org/W3088325507","https://openalex.org/W2377861520"],"abstract_inverted_index":{"Academic":[0],"research":[1,57],"in":[2,12,48,78,206],"the":[3,102,109,122,125,127,130,133,136,139,143,146,166,184,189],"field":[4],"of":[5,51,56,62,76,90,111,116,124,132,145,194],"autonomous":[6,195],"vehicles":[7],"has":[8],"reached":[9],"high":[10],"popularity":[11],"recent":[13],"years":[14],"related":[15],"to":[16],"several":[17],"topics":[18],"as":[19,66,198],"sensor":[20],"technologies,":[21],"V2X":[22],"communications,":[23],"safety,":[24],"security,":[25],"decision":[26],"making,":[27],"control,":[28],"and":[29,32,42,71,85,107,135,142,157,165,171,176,192,212],"even":[30],"legal":[31],"standardization":[33],"rules.":[34],"Besides":[35],"classic":[36],"control":[37],"design":[38],"approaches,":[39],"Artificial":[40],"Intelligence":[41],"Machine":[43,79],"Learning":[44,80,95],"methods":[45],"are":[46,121,179,215],"present":[47],"almost":[49],"all":[50],"these":[52,91],"fields.":[53],"Another":[54],"part":[55],"focuses":[58],"on":[59,162],"different":[60,163,190],"layers":[61,164],"Motion":[63],"Planning,":[64],"such":[65,118,197],"strategic":[67],"decisions,":[68],"trajectory":[69,201],"planning,":[70],"control.":[72],"A":[73],"wide":[74],"range":[75],"techniques":[77],"itself":[81],"have":[82],"been":[83],"developed,":[84],"this":[86],"article":[87],"describes":[88,108,152],"one":[89],"fields,":[92],"Deep":[93],"Reinforcement":[94],"(DRL).":[96],"The":[97,113,150,181],"paper":[98,151,182],"provides":[99],"insight":[100],"into":[101],"hierarchical":[103],"motion":[104],"planning":[105],"problem":[106],"basics":[110],"DRL.":[112],"main":[114],"elements":[115],"designing":[117],"a":[119],"system":[120],"modeling":[123,128],"environment,":[126],"abstractions,":[129],"description":[131],"state":[134,173],"perception":[137],"models,":[138,154,168],"appropriate":[140],"rewarding,":[141],"realization":[144],"underlying":[147],"neural":[148],"network.":[149],"vehicle":[153],"simulation":[155],"possibilities":[156],"computational":[158],"requirements.":[159],"Strategic":[160],"decisions":[161],"observation":[167],"e.g.,":[169],"continuous":[170],"discrete":[172],"representations,":[174],"grid-based,":[175],"camera-based":[177],"solutions":[178,186],"presented.":[180],"surveys":[183],"state-of-art":[185],"systematized":[187],"by":[188],"tasks":[191],"levels":[193],"driving,":[196],"car-following,":[199],"lane-keeping,":[200],"following,":[202],"merging,":[203],"or":[204],"driving":[205],"dense":[207],"traffic.":[208],"Finally,":[209],"open":[210],"questions":[211],"future":[213],"challenges":[214],"discussed.":[216]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}