{"id":"https://openalex.org/W4315647850","doi":"https://doi.org/10.3390/s23020844","title":"Research into Autonomous Vehicles Following and Obstacle Avoidance Based on Deep Reinforcement Learning Method under Map Constraints","display_name":"Research into Autonomous Vehicles Following and Obstacle Avoidance Based on Deep Reinforcement Learning Method under Map Constraints","publication_year":2023,"publication_date":"2023-01-11","ids":{"openalex":"https://openalex.org/W4315647850","doi":"https://doi.org/10.3390/s23020844","pmid":"https://pubmed.ncbi.nlm.nih.gov/36679640"},"language":"en","primary_location":{"id":"doi:10.3390/s23020844","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23020844","pdf_url":"https://www.mdpi.com/1424-8220/23/2/844/pdf?version=1673431606","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/2/844/pdf?version=1673431606","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100414977","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0002-1447-4448"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zheng Li","raw_affiliation_strings":["National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100540476","display_name":"Shihua Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shihua Yuan","raw_affiliation_strings":["National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101060296","display_name":"Xufeng Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xufeng Yin","raw_affiliation_strings":["National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054063853","display_name":"Xueyuan Li","orcid":"https://orcid.org/0000-0003-1112-5610"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueyuan Li","raw_affiliation_strings":["National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062720275","display_name":"Shouxing Tang","orcid":"https://orcid.org/0000-0002-9003-513X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shouxing Tang","raw_affiliation_strings":["National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100414977"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.1494,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.86676213,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"23","issue":"2","first_page":"844","last_page":"844"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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"}},"topics":[{"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9965999722480774,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9954000115394592,"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":0.8949525952339172},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8239740133285522},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.811083197593689},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.7156516909599304},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6236806511878967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6133822202682495},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5894553661346436},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5008487701416016},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.45868492126464844},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.29667675495147705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28094202280044556},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21132349967956543},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16179224848747253},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0830862820148468},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.06221255660057068}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8949525952339172},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8239740133285522},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.811083197593689},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.7156516909599304},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6236806511878967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6133822202682495},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5894553661346436},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5008487701416016},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.45868492126464844},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29667675495147705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28094202280044556},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21132349967956543},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16179224848747253},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0830862820148468},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.06221255660057068},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000088684","descriptor_name":"Autonomous Vehicles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000088684","descriptor_name":"Autonomous Vehicles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000088684","descriptor_name":"Autonomous Vehicles","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D011930","descriptor_name":"Reaction Time","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011930","descriptor_name":"Reaction Time","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011930","descriptor_name":"Reaction Time","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s23020844","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23020844","pdf_url":"https://www.mdpi.com/1424-8220/23/2/844/pdf?version=1673431606","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:36679640","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36679640","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9861567","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9861567","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC9861567/pdf/sensors-23-00844.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:cb3b2fa074844cb68074e26f3aebf6cf","is_oa":true,"landing_page_url":"https://doaj.org/article/cb3b2fa074844cb68074e26f3aebf6cf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 2, p 844 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/2/844/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23020844","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 23; Issue 2; Pages: 844","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23020844","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23020844","pdf_url":"https://www.mdpi.com/1424-8220/23/2/844/pdf?version=1673431606","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.800000011920929,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2080136458","display_name":null,"funder_award_id":"cstc2021jcyj","funder_id":"https://openalex.org/F4320323172","funder_display_name":"Natural Science Foundation of Chongqing"}],"funders":[{"id":"https://openalex.org/F4320323172","display_name":"Natural Science Foundation of Chongqing","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4315647850.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1639525857","https://openalex.org/W1819561190","https://openalex.org/W2129660761","https://openalex.org/W2142924808","https://openalex.org/W2583993537","https://openalex.org/W2591292776","https://openalex.org/W2990123902","https://openalex.org/W3008232782","https://openalex.org/W3026387788","https://openalex.org/W3045974612","https://openalex.org/W3090303220","https://openalex.org/W3100944043","https://openalex.org/W3112064722","https://openalex.org/W3136741165","https://openalex.org/W3165672175","https://openalex.org/W3171026906","https://openalex.org/W3171453668","https://openalex.org/W3183449896","https://openalex.org/W3209943843","https://openalex.org/W3210090000","https://openalex.org/W4206375622","https://openalex.org/W4213058176","https://openalex.org/W4306835713","https://openalex.org/W4313118295"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Compared":[0],"with":[1,74],"traditional":[2],"rule-based":[3],"algorithms,":[4],"deep":[5,62,87],"reinforcement":[6,63,88],"learning":[7,64,89],"methods":[8],"in":[9],"autonomous":[10,33,76],"driving":[11,23,52,77],"are":[12,41,124],"able":[13],"to":[14,21,72,99,112],"reduce":[15],"the":[16,22,28,75,86,101,107,114,117],"response":[17],"time":[18],"of":[19,30,79,121],"vehicles":[20,34,80],"environment":[24],"and":[25,40,54,82,119],"fully":[26],"exploit":[27],"advantages":[29],"autopilot.":[31],"Nowadays,":[32],"mainly":[35],"drive":[36],"on":[37],"urban":[38],"roads":[39],"constrained":[42],"by":[43,106],"some":[44],"map":[45,68],"elements":[46,69],"such":[47],"as":[48],"lane":[49,51,55],"boundaries,":[50],"rules,":[53],"center":[56],"lines.":[57],"In":[58],"this":[59],"paper,":[60],"a":[61],"approach":[65],"seriously":[66],"considering":[67],"is":[70,91,97],"proposed":[71,98],"deal":[73],"issues":[78],"following":[81],"obstacle":[83,94,103],"avoidance.":[84],"When":[85],"method":[90,96],"modeled,":[92],"an":[93],"representation":[95],"represent":[100],"external":[102,122],"information":[104],"required":[105],"ego":[108],"vehicle":[109],"input,":[110],"aiming":[111],"address":[113],"problem":[115],"that":[116],"number":[118],"state":[120],"obstacles":[123],"not":[125],"fixed.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}