{"id":"https://openalex.org/W4390347501","doi":"https://doi.org/10.3390/s24010182","title":"Unlocking Mutual Gains\u2014An Experimental Study on Collaborative Autonomous Driving in Urban Environment","display_name":"Unlocking Mutual Gains\u2014An Experimental Study on Collaborative Autonomous Driving in Urban Environment","publication_year":2023,"publication_date":"2023-12-28","ids":{"openalex":"https://openalex.org/W4390347501","doi":"https://doi.org/10.3390/s24010182","pmid":"https://pubmed.ncbi.nlm.nih.gov/38203044"},"language":"en","primary_location":{"id":"doi:10.3390/s24010182","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24010182","pdf_url":"https://www.mdpi.com/1424-8220/24/1/182/pdf?version=1703758039","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/1424-8220/24/1/182/pdf?version=1703758039","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072593082","display_name":"Sumbal Malik","orcid":"https://orcid.org/0000-0003-2759-3144"},"institutions":[{"id":"https://openalex.org/I201726411","display_name":"United Arab Emirates University","ror":"https://ror.org/01km6p862","country_code":"AE","type":"education","lineage":["https://openalex.org/I201726411"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Sumbal Malik","raw_affiliation_strings":["College of Information Technology, United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","Emirates Center for Mobility Research (ECMR), United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0003-2759-3144","affiliations":[{"raw_affiliation_string":"College of Information Technology, United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","institution_ids":["https://openalex.org/I201726411"]},{"raw_affiliation_string":"Emirates Center for Mobility Research (ECMR), United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","institution_ids":["https://openalex.org/I201726411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033886992","display_name":"Manzoor Ahmed Khan","orcid":"https://orcid.org/0000-0002-0319-8126"},"institutions":[{"id":"https://openalex.org/I201726411","display_name":"United Arab Emirates University","ror":"https://ror.org/01km6p862","country_code":"AE","type":"education","lineage":["https://openalex.org/I201726411"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Manzoor Ahmed Khan","raw_affiliation_strings":["College of Information Technology, United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","Emirates Center for Mobility Research (ECMR), United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-0319-8126","affiliations":[{"raw_affiliation_string":"College of Information Technology, United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","institution_ids":["https://openalex.org/I201726411"]},{"raw_affiliation_string":"Emirates Center for Mobility Research (ECMR), United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","institution_ids":["https://openalex.org/I201726411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017149914","display_name":"Hesham El\u2010Sayed","orcid":"https://orcid.org/0000-0002-7488-0915"},"institutions":[{"id":"https://openalex.org/I201726411","display_name":"United Arab Emirates University","ror":"https://ror.org/01km6p862","country_code":"AE","type":"education","lineage":["https://openalex.org/I201726411"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Hesham El-Sayed","raw_affiliation_strings":["College of Information Technology, United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","Emirates Center for Mobility Research (ECMR), United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-7488-0915","affiliations":[{"raw_affiliation_string":"College of Information Technology, United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","institution_ids":["https://openalex.org/I201726411"]},{"raw_affiliation_string":"Emirates Center for Mobility Research (ECMR), United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","institution_ids":["https://openalex.org/I201726411"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068350993","display_name":"M. Jalal Khan","orcid":"https://orcid.org/0000-0002-6230-1760"},"institutions":[{"id":"https://openalex.org/I201726411","display_name":"United Arab Emirates University","ror":"https://ror.org/01km6p862","country_code":"AE","type":"education","lineage":["https://openalex.org/I201726411"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Muhammad Jalal Khan","raw_affiliation_strings":["College of Information Technology, United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","Emirates Center for Mobility Research (ECMR), United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-6230-1760","affiliations":[{"raw_affiliation_string":"College of Information Technology, United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","institution_ids":["https://openalex.org/I201726411"]},{"raw_affiliation_string":"Emirates Center for Mobility Research (ECMR), United Arab Emirates University, Abu Dhabi 15551, United Arab Emirates","institution_ids":["https://openalex.org/I201726411"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5017149914"],"corresponding_institution_ids":["https://openalex.org/I201726411"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.9814,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.76585662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"24","issue":"1","first_page":"182","last_page":"182"},"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/T10698","display_name":"Transportation Planning and Optimization","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9980000257492065,"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/incentive","display_name":"Incentive","score":0.7469311952590942},{"id":"https://openalex.org/keywords/toll","display_name":"Toll","score":0.5652127265930176},{"id":"https://openalex.org/keywords/externality","display_name":"Externality","score":0.5319336652755737},{"id":"https://openalex.org/keywords/traffic-flow","display_name":"Traffic flow (computer networking)","score":0.462067186832428},{"id":"https://openalex.org/keywords/traffic-congestion","display_name":"Traffic congestion","score":0.4607689380645752},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42424729466438293},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.41453564167022705},{"id":"https://openalex.org/keywords/risk-analysis","display_name":"Risk analysis (engineering)","score":0.3519015908241272},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.3376348614692688},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.2995690703392029},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2489391267299652},{"id":"https://openalex.org/keywords/microeconomics","display_name":"Microeconomics","score":0.17999938130378723},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.17051774263381958}],"concepts":[{"id":"https://openalex.org/C29122968","wikidata":"https://www.wikidata.org/wiki/Q1414816","display_name":"Incentive","level":2,"score":0.7469311952590942},{"id":"https://openalex.org/C2778025104","wikidata":"https://www.wikidata.org/wiki/Q408004","display_name":"Toll","level":2,"score":0.5652127265930176},{"id":"https://openalex.org/C16118543","wikidata":"https://www.wikidata.org/wiki/Q275372","display_name":"Externality","level":2,"score":0.5319336652755737},{"id":"https://openalex.org/C207512268","wikidata":"https://www.wikidata.org/wiki/Q3074551","display_name":"Traffic flow (computer networking)","level":2,"score":0.462067186832428},{"id":"https://openalex.org/C2779888511","wikidata":"https://www.wikidata.org/wiki/Q244156","display_name":"Traffic congestion","level":2,"score":0.4607689380645752},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42424729466438293},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.41453564167022705},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.3519015908241272},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3376348614692688},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.2995690703392029},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2489391267299652},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.17999938130378723},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.17051774263381958},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24010182","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24010182","pdf_url":"https://www.mdpi.com/1424-8220/24/1/182/pdf?version=1703758039","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:38203044","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38203044","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:10781279","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10781279","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10781279/pdf/sensors-24-00182.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:05a1d0e0aac147ef922f8c6c50c691cc","is_oa":true,"landing_page_url":"https://doaj.org/article/05a1d0e0aac147ef922f8c6c50c691cc","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 24, Iss 1, p 182 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24010182","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24010182","pdf_url":"https://www.mdpi.com/1424-8220/24/1/182/pdf?version=1703758039","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":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390347501.pdf","grobid_xml":"https://content.openalex.org/works/W4390347501.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1432750659","https://openalex.org/W1965455100","https://openalex.org/W1967607324","https://openalex.org/W2002102776","https://openalex.org/W2002616065","https://openalex.org/W2007718857","https://openalex.org/W2160741122","https://openalex.org/W2555895109","https://openalex.org/W2960636321","https://openalex.org/W2989399708","https://openalex.org/W3005944563","https://openalex.org/W3093551387","https://openalex.org/W3112462431","https://openalex.org/W3147987103","https://openalex.org/W3165330780","https://openalex.org/W3190843073","https://openalex.org/W3207855847","https://openalex.org/W4221145253","https://openalex.org/W4280490119","https://openalex.org/W4283021706","https://openalex.org/W4283762065","https://openalex.org/W4285180707","https://openalex.org/W4293677325","https://openalex.org/W4307390744","https://openalex.org/W4312223234","https://openalex.org/W4313419003","https://openalex.org/W4313893747","https://openalex.org/W4319876434","https://openalex.org/W4362716175","https://openalex.org/W4366139312","https://openalex.org/W4378527982","https://openalex.org/W4379382465","https://openalex.org/W4385781829","https://openalex.org/W4386896177","https://openalex.org/W6628445349"],"related_works":["https://openalex.org/W2757240192","https://openalex.org/W592613903","https://openalex.org/W2353712315","https://openalex.org/W2378169260","https://openalex.org/W588210059","https://openalex.org/W576156795","https://openalex.org/W2053810344","https://openalex.org/W65202228","https://openalex.org/W3023977068","https://openalex.org/W2361581724"],"abstract_inverted_index":{"Convoy":[0],"driving,":[1,8,57],"a":[2,10,160,205,235,281,287],"specialized":[3],"form":[4],"of":[5,29,55,73,108,163,250,266],"collaborative":[6,194],"autonomous":[7,31],"offers":[9],"promising":[11],"solution":[12],"to":[13,76,102,114,120,154,180,221,233,246,262],"the":[14,27,38,51,71,82,106,127,140,193,199,231,248,264],"multifaceted":[15],"challenges":[16],"that":[17,66],"transportation":[18,271],"systems":[19,272],"face,":[20],"including":[21,143],"traffic":[22,43,144,165,188,215],"congestion,":[23],"pollutant":[24,148],"emissions,":[25,149],"and":[26,34,61,100,123,138,147,150,177,184,203,218,244,256,273],"coexistence":[28],"connected":[30],"vehicles":[32,36,75,88],"(CAVs)":[33],"human-driven":[35],"on":[37,50,187],"road,":[39],"resulting":[40],"in":[41,78,225],"mixed":[42,164],"flow.":[44,189],"While":[45,81],"extensive":[46],"research":[47,132,260],"has":[48,67],"focused":[49],"collective":[52,83,255],"societal":[53,116,141],"benefits":[54,84,99,117,249],"convoy":[56,79,109,156,195,251,284],"such":[58,170],"as":[59,171],"safety":[60],"comfort,":[62],"one":[63],"critical":[64],"aspect":[65],"been":[68],"overlooked":[69],"is":[70,111],"willingness":[72],"individual":[74,87,128,257,274],"participate":[77],"formations.":[80],"are":[85],"evident,":[86],"may":[89],"not":[90,112],"readily":[91],"embrace":[92],"this":[93,131,134],"paradigm":[94],"shift":[95],"without":[96],"explicit":[97],"tangible":[98,278],"incentives":[101,122,152,210],"motivate":[103],"them.":[104],"Moreover,":[105],"objective":[107],"driving":[110,196,252,285],"solely":[113],"deliver":[115],"but":[118],"also":[119],"provide":[121],"reduce":[124],"costs":[125],"at":[126,253],"level.":[129],"Therefore,":[130],"bridges":[133],"gap":[135],"by":[136],"designing":[137],"modeling":[139],"benefits,":[142,279],"flow":[145],"optimization":[146],"individual-level":[151],"necessary":[153],"promote":[155],"driving.":[157],"We":[158],"model":[159,192],"fundamental":[161],"diagram":[162],"flow,":[166],"considering":[167],"various":[168],"factors":[169],"CAV":[172,238],"penetration":[173,239],"rates,":[174],"coalition":[175,178,241],"intensity,":[176,242],"sizes":[179],"investigate":[181],"their":[182,185],"relationships":[183],"impact":[186],"Furthermore,":[190],"we":[191],"problem":[197],"using":[198],"coalitional":[200],"game":[201],"framework":[202],"propose":[204],"novel":[206],"utility":[207],"function":[208],"encompassing":[209],"like":[211],"car":[212],"insurance":[213],"discounts,":[214],"fine":[216],"reductions,":[217],"toll":[219],"discounts":[220],"encourage":[222],"vehicle":[223,275],"participation":[224],"convoys.":[226],"Our":[227],"experimental":[228],"findings":[229],"emphasize":[230],"need":[232],"strike":[234],"balance":[236],"between":[237],"rate,":[240],"size,":[243],"speed":[245],"realize":[247],"both":[254],"levels.":[258],"This":[259],"aims":[261],"align":[263],"interests":[265],"road":[267],"authorities":[268],"seeking":[269],"sustainable":[270],"owners":[276],"desiring":[277],"envisioning":[280],"future":[282],"where":[283],"becomes":[286],"mutually":[288],"beneficial":[289],"solution.":[290]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-10T00:00:00"}