{"id":"https://openalex.org/W4389889937","doi":"https://doi.org/10.3390/s23249843","title":"A Deep Reinforcement Learning Strategy for Surrounding Vehicles-Based Lane-Keeping Control","display_name":"A Deep Reinforcement Learning Strategy for Surrounding Vehicles-Based Lane-Keeping Control","publication_year":2023,"publication_date":"2023-12-15","ids":{"openalex":"https://openalex.org/W4389889937","doi":"https://doi.org/10.3390/s23249843","pmid":"https://pubmed.ncbi.nlm.nih.gov/38139694"},"language":"en","primary_location":{"id":"doi:10.3390/s23249843","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23249843","pdf_url":"https://www.mdpi.com/1424-8220/23/24/9843/pdf?version=1702650228","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/1424-8220/23/24/9843/pdf?version=1702650228","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100445005","display_name":"Jihun Kim","orcid":"https://orcid.org/0009-0000-1191-7226"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]},{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jihun Kim","raw_affiliation_strings":["Departments of Cogno-Mechatronics Engineering and Optics and Mechatronics Engineering, Pusan National University, Busan 46241, Republic of Korea","Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departments of Cogno-Mechatronics Engineering and Optics and Mechatronics Engineering, Pusan National University, Busan 46241, Republic of Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Republic of Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063000583","display_name":"Sanghoon Park","orcid":"https://orcid.org/0009-0004-8201-9246"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sanghoon Park","raw_affiliation_strings":["Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0004-8201-9246","affiliations":[{"raw_affiliation_string":"Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Republic of Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102027209","display_name":"Jeesu Kim","orcid":"https://orcid.org/0000-0002-2542-0234"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]},{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeesu Kim","raw_affiliation_strings":["Departments of Cogno-Mechatronics Engineering and Optics and Mechatronics Engineering, Pusan National University, Busan 46241, Republic of Korea","Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-2542-0234","affiliations":[{"raw_affiliation_string":"Departments of Cogno-Mechatronics Engineering and Optics and Mechatronics Engineering, Pusan National University, Busan 46241, Republic of Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Republic of Korea","institution_ids":["https://openalex.org/I110273157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019044787","display_name":"Jinwoo Yoo","orcid":"https://orcid.org/0000-0003-1025-3784"},"institutions":[{"id":"https://openalex.org/I110273157","display_name":"Kookmin University","ror":"https://ror.org/0049erg63","country_code":"KR","type":"education","lineage":["https://openalex.org/I110273157"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jinwoo Yoo","raw_affiliation_strings":["Department of Automobile and IT Convergence, Kookmin University, Seoul 02707, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-1025-3784","affiliations":[{"raw_affiliation_string":"Department of Automobile and IT Convergence, Kookmin University, Seoul 02707, Republic of Korea","institution_ids":["https://openalex.org/I110273157"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5019044787"],"corresponding_institution_ids":["https://openalex.org/I110273157"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.4322,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.54385115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"23","issue":"24","first_page":"9843","last_page":"9843"},"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/T10524","display_name":"Traffic control and management","score":0.9984999895095825,"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":0.9927999973297119,"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":0.7267006635665894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6669992208480835},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5999642610549927},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5493074655532837},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4691813290119171},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45774975419044495},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4554942548274994},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.429864764213562},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3780856728553772},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3633538782596588},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34469589591026306},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22980991005897522},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1316167414188385}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7267006635665894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6669992208480835},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5999642610549927},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5493074655532837},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4691813290119171},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45774975419044495},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4554942548274994},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.429864764213562},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3780856728553772},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3633538782596588},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34469589591026306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22980991005897522},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1316167414188385},{"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23249843","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23249843","pdf_url":"https://www.mdpi.com/1424-8220/23/24/9843/pdf?version=1702650228","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:38139694","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38139694","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:10748354","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10748354","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10748354/pdf/sensors-23-09843.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:0223728a01e442189836de41d78f8ae5","is_oa":true,"landing_page_url":"https://doaj.org/article/0223728a01e442189836de41d78f8ae5","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 24, p 9843 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23249843","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23249843","pdf_url":"https://www.mdpi.com/1424-8220/23/24/9843/pdf?version=1702650228","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":[{"id":"https://openalex.org/G1403324975","display_name":null,"funder_award_id":"2021R1A5A1032937","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G2635774263","display_name":null,"funder_award_id":"2021R1A5A1032937","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G4645945534","display_name":null,"funder_award_id":"NRF-2021R1A5A1032937","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G6439837814","display_name":null,"funder_award_id":"NRF-2021R1A5A1032937","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G8084986156","display_name":null,"funder_award_id":"NRF-2021R1A5A1032937","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G8488729577","display_name":null,"funder_award_id":"2021R1A5A1032937","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389889937.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W2144304287","https://openalex.org/W2147620067","https://openalex.org/W2363637015","https://openalex.org/W2510641758","https://openalex.org/W2560882727","https://openalex.org/W2601361962","https://openalex.org/W2741850495","https://openalex.org/W2803752109","https://openalex.org/W2972006294","https://openalex.org/W2981207549","https://openalex.org/W3000280594","https://openalex.org/W3004897945","https://openalex.org/W3035791514","https://openalex.org/W3043690976","https://openalex.org/W3136781893","https://openalex.org/W3136988982","https://openalex.org/W3137361670","https://openalex.org/W3146551586","https://openalex.org/W3169904707","https://openalex.org/W4205373550","https://openalex.org/W4210812427","https://openalex.org/W4288068569","https://openalex.org/W4293294481","https://openalex.org/W4293811867","https://openalex.org/W4311728943","https://openalex.org/W4360913297","https://openalex.org/W4379518963","https://openalex.org/W4380029957","https://openalex.org/W6707674687","https://openalex.org/W6851131224"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W4210818033","https://openalex.org/W4221065211"],"abstract_inverted_index":{"As":[0],"autonomous":[1,39],"vehicles":[2],"(AVs)":[3],"are":[4,16],"advancing":[5],"to":[6,24,101,156],"higher":[7],"levels":[8],"of":[9,28,44,54,82,139],"autonomy":[10],"and":[11,92,124,130],"performance,":[12],"the":[13,42,52,98,103,137,140,152],"associated":[14],"technologies":[15],"becoming":[17],"increasingly":[18,36],"diverse.":[19],"Lane-keeping":[20],"systems":[21],"(LKS),":[22],"corresponding":[23],"a":[25,64],"key":[26],"functionality":[27],"AVs,":[29],"considerably":[30],"enhance":[31],"driver":[32],"convenience.":[33],"With":[34],"drivers":[35],"relying":[37],"on":[38],"driving":[40],"technologies,":[41],"importance":[43],"safety":[45],"features,":[46],"such":[47,116],"as":[48,95,117],"fail-safe":[49],"mechanisms":[50],"in":[51,144,151,160],"event":[53],"sensor":[55,142,158],"failures,":[56],"has":[57],"gained":[58],"prominence.":[59],"Therefore,":[60],"this":[61],"paper":[62],"proposes":[63],"reinforcement":[65],"learning":[66,108],"(RL)":[67],"control":[68],"method":[69],"for":[70,85,97,127],"lane-keeping,":[71],"which":[72,120],"uses":[73,89],"surrounding":[74,90],"object":[75,93],"information":[76,94],"derived":[77],"through":[78],"LiDAR":[79,141],"sensors":[80,84],"instead":[81],"camera":[83],"LKS.":[86],"This":[87],"approach":[88],"vehicle":[91,122],"observations":[96],"RL":[99,131],"framework":[100],"maintain":[102],"vehicle's":[104],"current":[105],"lane.":[106],"The":[107],"environment":[109,155],"is":[110,149],"established":[111],"by":[112],"integrating":[113],"simulation":[114,154],"tools,":[115],"IPG":[118],"CarMaker,":[119],"incorporates":[121],"dynamics,":[123],"MATLAB":[125],"Simulink":[126],"data":[128,143],"analysis":[129],"model":[132],"creation.":[133],"To":[134],"further":[135],"validate":[136],"applicability":[138],"real-world":[145],"settings,":[146],"Gaussian":[147],"noise":[148,159],"introduced":[150],"virtual":[153],"mimic":[157],"actual":[161],"operational":[162],"conditions.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
