{"id":"https://openalex.org/W4289927967","doi":"https://doi.org/10.23919/ecc55457.2022.9838101","title":"Hierarchical control design of automated vehicles for multi-vehicle scenarios in roundabouts","display_name":"Hierarchical control design of automated vehicles for multi-vehicle scenarios in roundabouts","publication_year":2022,"publication_date":"2022-07-12","ids":{"openalex":"https://openalex.org/W4289927967","doi":"https://doi.org/10.23919/ecc55457.2022.9838101"},"language":"en","primary_location":{"id":"doi:10.23919/ecc55457.2022.9838101","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838101","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 European Control Conference (ECC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 European Control Conference (ECC)","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/A5081056211","display_name":"Bal\u00e1zs N\u00e9meth","orcid":"https://orcid.org/0000-0003-0211-3204"},"institutions":[{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Balazs Nemeth","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH),Budapest,Hungary,H-1111"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH),Budapest,Hungary,H-1111","institution_ids":["https://openalex.org/I4210117195"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006484410","display_name":"Zs\u00f3fia Farkas","orcid":"https://orcid.org/0000-0002-3291-5024"},"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":false,"raw_author_name":"Zsofia Farkas","raw_affiliation_strings":["Budapest University of Technology and Economics,Department of Control for Transportation and Vehicle Systems,Budapest,Hungary,H-1111"],"affiliations":[{"raw_affiliation_string":"Budapest University of Technology and Economics,Department of Control for Transportation and Vehicle Systems,Budapest,Hungary,H-1111","institution_ids":["https://openalex.org/I29770179"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053318589","display_name":"Zolt\u00e1n Antal","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Zoltan Antal","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH),Budapest,Hungary,H-1111"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH),Budapest,Hungary,H-1111","institution_ids":["https://openalex.org/I4210117195"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038755734","display_name":"P\u00e9ter G\u00e1sp\u00e1r","orcid":"https://orcid.org/0000-0003-3388-1724"},"institutions":[{"id":"https://openalex.org/I4210117195","display_name":"Institute for Computer Science and Control","ror":"https://ror.org/0249v7n71","country_code":"HU","type":"facility","lineage":["https://openalex.org/I4210117195","https://openalex.org/I7597260"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Peter Gaspar","raw_affiliation_strings":["Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH),Budapest,Hungary,H-1111"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH),Budapest,Hungary,H-1111","institution_ids":["https://openalex.org/I4210117195"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081056211"],"corresponding_institution_ids":["https://openalex.org/I4210117195"],"apc_list":null,"apc_paid":null,"fwci":1.059,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71772978,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1964","last_page":"1969"},"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":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9973000288009644,"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/roundabout","display_name":"Roundabout","score":0.7555006742477417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5929032564163208},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5611295700073242},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5542593598365784},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5338232517242432},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5177756547927856},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4992849826812744},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4963584542274475},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4859134256839752},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.46423593163490295},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4361630082130432},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4270378053188324},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4140723645687103},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3656964600086212},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.363571435213089},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3355453908443451},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33342647552490234},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.19106167554855347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15782755613327026},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1077086329460144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07139992713928223}],"concepts":[{"id":"https://openalex.org/C109157449","wikidata":"https://www.wikidata.org/wiki/Q7371221","display_name":"Roundabout","level":2,"score":0.7555006742477417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5929032564163208},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5611295700073242},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5542593598365784},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5338232517242432},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5177756547927856},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4992849826812744},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4963584542274475},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4859134256839752},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.46423593163490295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4361630082130432},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4270378053188324},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4140723645687103},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3656964600086212},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.363571435213089},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3355453908443451},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33342647552490234},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.19106167554855347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15782755613327026},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1077086329460144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07139992713928223},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc55457.2022.9838101","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838101","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 European Control Conference (ECC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.sztaki.hu:10400","is_oa":false,"landing_page_url":"https://eprints.sztaki.hu/10400/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401907","display_name":"SZTAKI Publication Repository (Hungarian Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I7597260","host_organization_name":"Hungarian Academy of Sciences","host_organization_lineage":["https://openalex.org/I7597260"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1588711604","https://openalex.org/W1723658631","https://openalex.org/W1976328863","https://openalex.org/W2051835585","https://openalex.org/W2088010125","https://openalex.org/W2343726552","https://openalex.org/W2488368213","https://openalex.org/W2562927106","https://openalex.org/W2579692592","https://openalex.org/W2783640924","https://openalex.org/W2920980023","https://openalex.org/W2936971746","https://openalex.org/W2962881537","https://openalex.org/W2963683522","https://openalex.org/W2963864421","https://openalex.org/W2998696623","https://openalex.org/W3003329097","https://openalex.org/W3033645499","https://openalex.org/W3118665455","https://openalex.org/W3155372687","https://openalex.org/W3155390143","https://openalex.org/W3186440053","https://openalex.org/W3210339426","https://openalex.org/W6684921986"],"related_works":["https://openalex.org/W2093826578","https://openalex.org/W4294237266","https://openalex.org/W3195565206","https://openalex.org/W647040144","https://openalex.org/W2176704059","https://openalex.org/W3118850949","https://openalex.org/W2558143469","https://openalex.org/W4375811566","https://openalex.org/W53329137","https://openalex.org/W2120267624"],"abstract_inverted_index":{"Control":[0],"design":[1,32],"for":[2,41,77],"safe":[3,121],"and":[4,23,56,89,119],"time-efficient":[5],"motion":[6,36,122,140],"of":[7,25,33,97,116,123,141],"automated":[8,125,143],"vehicles":[9,99,111],"in":[10],"roundabout":[11,42],"scenarios":[12,129,134],"poses":[13],"various":[14,128],"challenges,":[15],"especially":[16],"adaptation":[17],"to":[18,152],"the":[19,26,31,63,74,78,94,98,117,120,124,142,150,153],"actual":[20],"traffic":[21],"scenario":[22],"coordination":[24],"vehicles.":[27],"This":[28],"paper":[29],"proposes":[30],"a":[34,86,90],"hierarchical":[35],"control":[37,45,61,104,118],"with":[38,72,92,108],"learning":[39],"functionality":[40],"scenarios.":[43],"The":[44,60,82,102,114,132],"is":[46,66,80,100,112],"designed":[47,67],"on":[48,53,57,62,105],"two":[49],"levels,":[50],"such":[51],"as":[52],"cloud":[54,64,154],"level":[55,65,84],"vehicle":[58,79,83,126,144],"level.":[59],"by":[68],"using":[69],"reinforcement":[70],"learning,":[71],"which":[73,93],"maximum":[75],"speed":[76],"achieved.":[81],"contains":[85],"robust":[87],"controller":[88],"supervisor,":[91],"collision":[95],"avoidance":[96],"guaranteed.":[101],"proposed":[103],"Hardware-in-the-Loop":[106],"environment":[107],"small-scaled":[109],"indoor":[110],"implemented.":[113],"effectiveness":[115],"under":[127],"are":[130],"demonstrated.":[131],"provided":[133],"illustrate":[135],"that":[136],"safe,":[137],"i.e.,":[138],"collision-free":[139],"can":[145],"be":[146],"guaranteed,":[147],"even":[148],"if":[149],"connection":[151],"has":[155],"been":[156],"lost.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}