{"id":"https://openalex.org/W4385658514","doi":"https://doi.org/10.3390/s23167021","title":"A Multi-Task Fusion Strategy-Based Decision-Making and Planning Method for Autonomous Driving Vehicles","display_name":"A Multi-Task Fusion Strategy-Based Decision-Making and Planning Method for Autonomous Driving Vehicles","publication_year":2023,"publication_date":"2023-08-08","ids":{"openalex":"https://openalex.org/W4385658514","doi":"https://doi.org/10.3390/s23167021","pmid":"https://pubmed.ncbi.nlm.nih.gov/37631557"},"language":"en","primary_location":{"id":"doi:10.3390/s23167021","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167021","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7021/pdf?version=1691477981","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/1424-8220/23/16/7021/pdf?version=1691477981","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100620770","display_name":"Weiguo Liu","orcid":"https://orcid.org/0000-0001-5916-9837"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weiguo Liu","raw_affiliation_strings":["Information Science & Electronic Engineering, Zhejiang University, Hangzhou 310027, China","National Innovation Center of Intelligent and Connected Vehicles, Beijing 100176, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Science & Electronic Engineering, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"National Innovation Center of Intelligent and Connected Vehicles, Beijing 100176, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074545160","display_name":"Zhiyu Xiang","orcid":"https://orcid.org/0000-0002-3329-7037"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyu Xiang","raw_affiliation_strings":["Information Science & Electronic Engineering, Zhejiang University, Hangzhou 310027, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Science & Electronic Engineering, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405737","display_name":"Han Fang","orcid":"https://orcid.org/0000-0002-4010-2525"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han Fang","raw_affiliation_strings":["Wuhan Lotus Technology Co., Ltd., Wuhan 430000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan Lotus Technology Co., Ltd., Wuhan 430000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110449430","display_name":"Ke Huo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ke Huo","raw_affiliation_strings":["National Innovation Center of Intelligent and Connected Vehicles, Beijing 100176, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Innovation Center of Intelligent and Connected Vehicles, Beijing 100176, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103325843","display_name":"Zixu Wang","orcid":"https://orcid.org/0009-0006-1327-6366"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zixu Wang","raw_affiliation_strings":["National Innovation Center of Intelligent and Connected Vehicles, Beijing 100176, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Innovation Center of Intelligent and Connected Vehicles, Beijing 100176, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100620770"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.4276,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.84487683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"23","issue":"16","first_page":"7021","last_page":"7021"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9969000220298767,"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/T12617","display_name":"Energy, Environment, and Transportation Policies","score":0.972000002861023,"subfield":{"id":"https://openalex.org/subfields/2105","display_name":"Renewable Energy, Sustainability and the Environment"},"field":{"id":"https://openalex.org/fields/21","display_name":"Energy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7993447780609131},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6628780961036682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6585686802864075},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6462947130203247},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5528919696807861},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5483719110488892},{"id":"https://openalex.org/keywords/overfitting","display_name":"Overfitting","score":0.5469565391540527},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.467615008354187},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.46434149146080017},{"id":"https://openalex.org/keywords/multi-task-learning","display_name":"Multi-task learning","score":0.4238448143005371},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.33260926604270935},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25144821405410767},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12736636400222778}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7993447780609131},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6628780961036682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6585686802864075},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6462947130203247},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5528919696807861},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5483719110488892},{"id":"https://openalex.org/C22019652","wikidata":"https://www.wikidata.org/wiki/Q331309","display_name":"Overfitting","level":3,"score":0.5469565391540527},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.467615008354187},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.46434149146080017},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.4238448143005371},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.33260926604270935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25144821405410767},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12736636400222778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23167021","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167021","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7021/pdf?version=1691477981","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:37631557","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37631557","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:10459956","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10459956","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10459956/pdf/sensors-23-07021.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:eb19f50a088f409caa2abbd10d5df438","is_oa":true,"landing_page_url":"https://doaj.org/article/eb19f50a088f409caa2abbd10d5df438","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 16, p 7021 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/16/7021/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23167021","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 16; Pages: 7021","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23167021","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23167021","pdf_url":"https://www.mdpi.com/1424-8220/23/16/7021/pdf?version=1691477981","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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385658514.pdf"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1931877416","https://openalex.org/W2145339207","https://openalex.org/W2260756217","https://openalex.org/W2302255633","https://openalex.org/W2559767995","https://openalex.org/W2739529772","https://openalex.org/W2746553466","https://openalex.org/W2754517384","https://openalex.org/W2837605352","https://openalex.org/W2963679616","https://openalex.org/W2991420892","https://openalex.org/W4320518744","https://openalex.org/W4383502669","https://openalex.org/W4386076400","https://openalex.org/W4390874575","https://openalex.org/W6745935785","https://openalex.org/W6770852102"],"related_works":["https://openalex.org/W1574414179","https://openalex.org/W4362597605","https://openalex.org/W3009056573","https://openalex.org/W2922073769","https://openalex.org/W4297676672","https://openalex.org/W4281702477","https://openalex.org/W4378510483","https://openalex.org/W4376166922","https://openalex.org/W2490526372","https://openalex.org/W3099765033"],"abstract_inverted_index":{"The":[0,22,196],"autonomous":[1],"driving":[2,41,58,149],"technology":[3,51],"based":[4,43,103,117,199,208,295],"on":[5,44,104,118,200,209,296],"deep":[6,85,109,175,291],"reinforcement":[7,86,292],"learning":[8,40,87,110,131,293],"(DRL)":[9],"has":[10,52],"been":[11,53],"confirmed":[12],"as":[13],"one":[14],"of":[15,30,83,142,155,164,168,217,230,275,286,321],"the":[16,28,37,45,48,78,107,137,162,169,205,218,223,228,235,241,245,273,287,290,318,322],"most":[17],"cutting-edge":[18],"research":[19,113],"fields":[20],"worldwide.":[21],"agent":[23,138,170],"is":[24,70,134],"enabled":[25,261],"to":[26,139,171,226,262],"achieve":[27],"goal":[29],"making":[31],"independent":[32],"decisions":[33],"by":[34,240],"interacting":[35],"with":[36,191,222,268],"environment":[38,147],"and":[39,73,81,93,98,106,112,148,181,204,215,233,249,271],"strategies":[42],"feedback":[46],"from":[47],"environment.":[49],"This":[50],"widely":[54],"used":[55],"in":[56,100,144,186,189,253,278,300,313],"end-to-end":[57,84],"tasks.":[59],"However,":[60],"this":[61,101,119,187,254,301],"field":[62],"faces":[63],"several":[64],"challenges.":[65],"First,":[66],"developing":[67],"real":[68],"vehicles":[69],"expensive,":[71],"time-consuming,":[72],"risky.":[74],"To":[75,160],"further":[76],"expedite":[77],"testing,":[79],"verification,":[80],"iteration":[82],"algorithms,":[88],"a":[89,129,152,174,192],"joint":[90,246],"simulation":[91,247],"development":[92,248],"validation":[94,250],"platform":[95,251],"was":[96,115,184,220,303,307],"designed":[97],"implemented":[99],"study":[102,188,255,302],"VTD-CarSim":[105],"Tensorflow":[108],"framework,":[111],"work":[114],"conducted":[116],"platform.":[120,288],"Second,":[121,289],"sparse":[122],"reward":[123],"signals":[124],"can":[125],"cause":[126],"problems":[127],"(e.g.,":[128],"low-sample":[130],"rate).":[132],"It":[133],"imperative":[135],"for":[136],"be":[140],"capable":[141],"navigating":[143],"an":[145],"unfamiliar":[146],"safely":[150],"under":[151],"wide":[153],"variety":[154],"weather":[156],"or":[157],"lighting":[158],"conditions.":[159],"address":[161],"problem":[163],"poor":[165],"generalization":[166,236,319],"ability":[167,320],"unknown":[172],"scenarios,":[173],"deterministic":[176],"policy":[177],"gradient":[178],"(DDPG)":[179],"decision-making":[180,202,324],"planning":[182,203,325],"method":[183],"proposed":[185,299],"accordance":[190],"multi-task":[193,297],"fusion":[194,298],"strategy.":[195],"main":[197,224],"task":[198,207,225],"DRL":[201,311],"auxiliary":[206],"image":[210],"semantic":[211],"segmentation":[212],"were":[213,260],"cross-fused,":[214],"part":[216],"network":[219],"shared":[221],"reduce":[227],"possibility":[229],"model":[231],"overfitting":[232],"improve":[234],"ability.":[237],"As":[238],"indicated":[239],"experimental":[242],"results,":[243],"first,":[244],"built":[252],"exhibited":[256],"prominent":[257],"versatility.":[258],"Users":[259],"easily":[263],"substitute":[264],"any":[265],"default":[266,284],"module":[267],"customized":[269],"algorithms":[270,312],"verify":[272],"effectiveness":[274],"new":[276],"functions":[277],"enhancing":[279],"overall":[280],"performance":[281,306],"using":[282],"other":[283,310],"modules":[285],"strategy":[294],"competitive.":[304],"Its":[305],"better":[308],"than":[309],"certain":[314],"tasks,":[315],"which":[316],"improved":[317],"vehicle":[323],"algorithm.":[326]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}