{"id":"https://openalex.org/W4395010887","doi":"https://doi.org/10.3390/s24082657","title":"Adaptive Cruise Control Based on Safe Deep Reinforcement Learning","display_name":"Adaptive Cruise Control Based on Safe Deep Reinforcement Learning","publication_year":2024,"publication_date":"2024-04-22","ids":{"openalex":"https://openalex.org/W4395010887","doi":"https://doi.org/10.3390/s24082657","pmid":"https://pubmed.ncbi.nlm.nih.gov/38676274"},"language":"en","primary_location":{"id":"doi:10.3390/s24082657","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24082657","pdf_url":"https://www.mdpi.com/1424-8220/24/8/2657/pdf?version=1713780494","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/1424-8220/24/8/2657/pdf?version=1713780494","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024414161","display_name":"Rui Zhao","orcid":"https://orcid.org/0000-0003-1597-1961"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Zhao","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun 130025, China"],"raw_orcid":"https://orcid.org/0000-0003-1597-1961","affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342699","display_name":"Kui Wang","orcid":"https://orcid.org/0009-0000-0821-1660"},"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":"Kui Wang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025993224","display_name":"Wenbo Che","orcid":"https://orcid.org/0000-0002-0349-2237"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbo Che","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun 130025, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071303232","display_name":"Yun Li","orcid":"https://orcid.org/0009-0002-7824-7751"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yun Li","raw_affiliation_strings":["Graduate School of Information and Science Technology, The University of Tokyo, Tokyo 113-8654, Japan"],"raw_orcid":"https://orcid.org/0009-0002-7824-7751","affiliations":[{"raw_affiliation_string":"Graduate School of Information and Science Technology, The University of Tokyo, Tokyo 113-8654, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067527835","display_name":"Yuze Fan","orcid":"https://orcid.org/0009-0003-8309-7396"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuze Fan","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun 130025, China"],"raw_orcid":"https://orcid.org/0009-0003-8309-7396","affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042542957","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0003-4195-5033"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fei Gao","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changhun 130025, China"],"raw_orcid":"https://orcid.org/0000-0003-4195-5033","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changhun 130025, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5042542957"],"corresponding_institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.4856,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.94995136,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"24","issue":"8","first_page":"2657","last_page":"2657"},"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":0.9979000091552734,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9962999820709229,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8717702627182007},{"id":"https://openalex.org/keywords/cruise-control","display_name":"Cruise control","score":0.7752642035484314},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7542861104011536},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.6248590350151062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6224341988563538},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3297387957572937},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.328305184841156},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3236597776412964},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3062540888786316},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.18901720643043518}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8717702627182007},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.7752642035484314},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7542861104011536},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6248590350151062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6224341988563538},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3297387957572937},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.328305184841156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3236597776412964},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3062540888786316},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.18901720643043518},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24082657","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24082657","pdf_url":"https://www.mdpi.com/1424-8220/24/8/2657/pdf?version=1713780494","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:38676274","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38676274","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:11055141","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11055141","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11055141/pdf/sensors-24-02657.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:625f5c68d2d94f3389091b91c1d145f1","is_oa":true,"landing_page_url":"https://doaj.org/article/625f5c68d2d94f3389091b91c1d145f1","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 8, p 2657 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24082657","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24082657","pdf_url":"https://www.mdpi.com/1424-8220/24/8/2657/pdf?version=1713780494","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G7194057990","display_name":null,"funder_award_id":"52202495","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7872204055","display_name":null,"funder_award_id":"52202494","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4395010887.pdf"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1575592356","https://openalex.org/W1966808004","https://openalex.org/W2081927768","https://openalex.org/W2128117598","https://openalex.org/W2140154822","https://openalex.org/W2292419127","https://openalex.org/W2557518726","https://openalex.org/W2583993537","https://openalex.org/W2789408681","https://openalex.org/W2883082268","https://openalex.org/W2896084349","https://openalex.org/W2900901991","https://openalex.org/W2902179606","https://openalex.org/W2953303875","https://openalex.org/W2981402159","https://openalex.org/W2990123902","https://openalex.org/W2993428007","https://openalex.org/W3025631768","https://openalex.org/W3046767783","https://openalex.org/W3100366369","https://openalex.org/W3100603203","https://openalex.org/W3100789280","https://openalex.org/W3100944043","https://openalex.org/W3104639963","https://openalex.org/W3127561923","https://openalex.org/W3153504948","https://openalex.org/W3156036515","https://openalex.org/W3207577175","https://openalex.org/W4200318047","https://openalex.org/W4213308466","https://openalex.org/W4320009709","https://openalex.org/W4386918877","https://openalex.org/W4390480783","https://openalex.org/W4391003802","https://openalex.org/W4394863047","https://openalex.org/W6638018090"],"related_works":["https://openalex.org/W4400868993","https://openalex.org/W3096874164","https://openalex.org/W2768698792","https://openalex.org/W1985560493","https://openalex.org/W2386410636","https://openalex.org/W2357975469","https://openalex.org/W2145363145","https://openalex.org/W1626977535","https://openalex.org/W4284974072","https://openalex.org/W2341346307"],"abstract_inverted_index":{"Adaptive":[0,39],"cruise":[1,32],"control":[2,10,186],"(ACC)":[3],"enables":[4],"efficient,":[5],"safe,":[6],"and":[7,15,51,68,84,110,171,180],"intelligent":[8],"vehicle":[9,23],"by":[11,73,104,145],"autonomously":[12],"adjusting":[13],"speed":[14],"ensuring":[16],"a":[17,29,95],"safe":[18,96],"following":[19],"distance":[20],"from":[21],"the":[22,35,48,63,91,116,131,141,146,192,195,199],"in":[24,198],"front.":[25],"This":[26,43],"paper":[27],"proposes":[28],"novel":[30],"adaptive":[31],"system,":[33],"namely":[34],"Safety-First":[36],"Reinforcement":[37,58],"Learning":[38,59],"Cruise":[40],"Control":[41],"(SFRL-ACC).":[42],"system":[44],"aims":[45],"to":[46,61,129],"leverage":[47],"model-free":[49],"nature":[50],"high":[52],"real-time":[53],"inference":[54],"efficiency":[55,71],"of":[56,65,194],"Deep":[57],"(DRL)":[60],"overcome":[62],"challenges":[64],"modeling":[66],"difficulties":[67],"lower":[69],"computational":[70],"faced":[72],"current":[74],"optimization":[75],"control-based":[76],"ACC":[77,92,122,185],"methods":[78],"while":[79,157],"simultaneously":[80],"maintaining":[81],"safety":[82,136,159,181],"advantages":[83],"optimizing":[85],"ride":[86,178],"comfort.":[87],"Firstly,":[88],"we":[89,114,166],"transform":[90],"problem":[93],"into":[94],"DRL":[97,151],"formulation":[98],"Constrained":[99,118],"Markov":[100],"Decision":[101],"Process":[102],"(CMDP)":[103],"carefully":[105],"designing":[106],"state,":[107],"action,":[108],"reward,":[109],"cost":[111],"functions.":[112],"Subsequently,":[113],"propose":[115],"Projected":[117],"Policy":[119],"Optimization":[120],"(PCPO)-based":[121],"Algorithm":[123],"SFRL-ACC,":[124],"which":[125],"is":[126],"specifically":[127],"tailored":[128],"solve":[130],"CMDP":[132],"problem.":[133],"PCPO":[134],"incorporates":[135],"constraints":[137],"that":[138,154],"further":[139],"restrict":[140],"trust":[142],"region":[143],"formed":[144],"Kullback-Leibler":[147],"(KL)":[148],"divergence,":[149],"facilitating":[150],"policy":[152,170],"updates":[153],"maximize":[155],"performance":[156,201],"keeping":[158],"costs":[160],"within":[161],"their":[162],"limit":[163],"bounds.":[164],"Finally,":[165],"train":[167],"an":[168],"SFRL-ACC":[169],"compare":[172],"its":[173],"computation":[174],"time,":[175],"traffic":[176],"efficiency,":[177],"comfort,":[179],"with":[182],"state-of-the-art":[183],"MPC-based":[184],"methods.":[187],"The":[188],"experimental":[189],"results":[190],"prove":[191],"superiority":[193],"proposed":[196],"method":[197],"aforementioned":[200],"aspects.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-26T13:28:51.108037","created_date":"2025-10-10T00:00:00"}
