{"id":"https://openalex.org/W4401511577","doi":"https://doi.org/10.3390/s24165187","title":"Constraint-Guided Behavior Transformer for Centralized Coordination of Connected and Automated Vehicles at Intersections","display_name":"Constraint-Guided Behavior Transformer for Centralized Coordination of Connected and Automated Vehicles at Intersections","publication_year":2024,"publication_date":"2024-08-11","ids":{"openalex":"https://openalex.org/W4401511577","doi":"https://doi.org/10.3390/s24165187","pmid":"https://pubmed.ncbi.nlm.nih.gov/39204882"},"language":"en","primary_location":{"id":"doi:10.3390/s24165187","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24165187","pdf_url":null,"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://doi.org/10.3390/s24165187","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/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":"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/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":"https://orcid.org/0009-0000-0821-1660","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/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"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fei Gao","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun 130025, China","National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun 130025, China"],"raw_orcid":"https://orcid.org/0000-0003-4195-5033","affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022668758","display_name":"Zhenhai Gao","orcid":"https://orcid.org/0000-0002-4623-3956"},"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":"Zhenhai Gao","raw_affiliation_strings":["College of Automotive Engineering, Jilin University, Changchun 130025, China","National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun 130025, China"],"raw_orcid":"https://orcid.org/0000-0002-4623-3956","affiliations":[{"raw_affiliation_string":"College of Automotive Engineering, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun 130025, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5042542957"],"corresponding_institution_ids":["https://openalex.org/I194450716"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.6001,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.6737408,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"24","issue":"16","first_page":"5187","last_page":"5187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"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":0.9998000264167786,"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":0.998199999332428,"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/T10370","display_name":"Traffic and Road Safety","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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":0.7537579536437988},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.6163190007209778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5830640196800232},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5190244913101196},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.49848008155822754},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.4411190152168274},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31143322587013245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30805808305740356},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.29353657364845276},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09055152535438538}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7537579536437988},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.6163190007209778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5830640196800232},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5190244913101196},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.49848008155822754},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.4411190152168274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31143322587013245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30805808305740356},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.29353657364845276},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09055152535438538},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24165187","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24165187","pdf_url":null,"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:39204882","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39204882","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:11359408","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11359408","pdf_url":null,"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:bb2e399832fc4dc4a71bf34af1cd9d07","is_oa":true,"landing_page_url":"https://doaj.org/article/bb2e399832fc4dc4a71bf34af1cd9d07","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 16, p 5187 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24165187","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24165187","pdf_url":null,"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/G1050522061","display_name":null,"funder_award_id":"52394261","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W2061052237","https://openalex.org/W2080782477","https://openalex.org/W2124657875","https://openalex.org/W2201235138","https://openalex.org/W2293480436","https://openalex.org/W2592818502","https://openalex.org/W2781726626","https://openalex.org/W2890598945","https://openalex.org/W2907502844","https://openalex.org/W2915779054","https://openalex.org/W2939973228","https://openalex.org/W2940821858","https://openalex.org/W2959526403","https://openalex.org/W2976036462","https://openalex.org/W3041244724","https://openalex.org/W3088218629","https://openalex.org/W3117904511","https://openalex.org/W3153130015","https://openalex.org/W3162902207","https://openalex.org/W3169291081","https://openalex.org/W4226355781","https://openalex.org/W4287126489","https://openalex.org/W4294562617","https://openalex.org/W4295356277","https://openalex.org/W4312332697","https://openalex.org/W4313138991","https://openalex.org/W4321161785","https://openalex.org/W4321483908","https://openalex.org/W4366483297","https://openalex.org/W4381733133","https://openalex.org/W4385245566","https://openalex.org/W6687063787","https://openalex.org/W6697082695","https://openalex.org/W6737893269","https://openalex.org/W6739901393","https://openalex.org/W6745935785","https://openalex.org/W6751535212","https://openalex.org/W6796289742","https://openalex.org/W6804244202","https://openalex.org/W6810745647","https://openalex.org/W7018863775"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W2024136090","https://openalex.org/W4206178588","https://openalex.org/W3094491777","https://openalex.org/W3214715529","https://openalex.org/W4287635093"],"abstract_inverted_index":{"The":[0],"centralized":[1,32],"coordination":[2,178],"of":[3,44,110,155,187],"Connected":[4],"and":[5,19,37,47,57,73,116,126,128,167,175,192],"Automated":[6],"Vehicles":[7],"(CAVs)":[8],"at":[9],"unsignalized":[10],"intersections":[11],"aims":[12],"to":[13,97,112,131,136,147],"enhance":[14,137],"traffic":[15,55,60,188],"efficiency,":[16,189],"driving":[17,103,190],"safety,":[18,191],"passenger":[20,193],"comfort.":[21,194],"Autonomous":[22],"Intersection":[23],"Management":[24],"(AIM)":[25],"systems":[26],"introduce":[27],"a":[28,141],"novel":[29],"approach":[30],"for":[31,85,101],"coordination.":[33],"However,":[34],"existing":[35],"rule-based":[36],"optimization":[38],"methods":[39,67,174],"often":[40],"face":[41],"the":[42,94,108,153],"challenges":[43],"poor":[45],"generalization":[46],"low":[48],"computational":[49],"efficiency":[50,120],"when":[51],"dealing":[52],"with":[53],"complex":[54],"environments":[56],"highly":[58],"dynamic":[59],"conditions.":[61],"Additionally,":[62],"current":[63],"Reinforcement":[64,87],"Learning":[65,88],"(RL)-based":[66],"encounter":[68],"difficulties":[69],"around":[70],"policy":[71,95,138,149,156],"inference":[72],"safety.":[74],"To":[75],"address":[76],"these":[77],"issues,":[78],"this":[79],"study":[80],"proposes":[81],"Constraint-Guided":[82],"Behavior":[83],"Transformer":[84],"Safe":[86],"(CoBT-SRL),":[89],"which":[90],"uses":[91],"transformers":[92,111],"as":[93],"network":[96],"achieve":[98],"efficient":[99],"decision-making":[100],"vehicle":[102,176],"behaviors.":[104],"This":[105],"method":[106],"leverages":[107],"ability":[109],"capture":[113],"long-range":[114],"dependencies":[115],"improve":[117],"data":[118],"sample":[119],"by":[121],"using":[122],"historical":[123],"states,":[124],"actions,":[125],"reward":[127],"cost":[129],"returns":[130],"predict":[132],"future":[133],"actions.":[134],"Furthermore,":[135],"exploration":[139,150],"performance,":[140],"sequence-level":[142],"entropy":[143],"regularizer":[144],"is":[145],"introduced":[146],"encourage":[148],"while":[151],"ensuring":[152],"safety":[154],"updates.":[157],"Simulation":[158],"results":[159],"indicate":[160],"that":[161],"CoBT-SRL":[162,170],"exhibits":[163],"stable":[164],"training":[165],"progress":[166],"converges":[168],"effectively.":[169],"outperforms":[171],"other":[172],"RL":[173],"intersection":[177],"schemes":[179],"(VICS)":[180],"based":[181],"on":[182],"optimal":[183],"control":[184],"in":[185],"terms":[186]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}